<?xml version="1.0" encoding="utf-8"?>
<!-- edited with XMLSpy v2011 (http://www.altova.com) by TeaM DJiNN (TeaM DJiNN) -->
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.0">
	<Vendor>
		<Id>#x00000994</Id>
		<Name>Chongqing  UMOT  Automation  Technology  Co.,Ltd</Name>
		<ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000010000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFCCCFFCFFCCCFCFFFFFCFFCFFCFFFCFFFCCCFFCFFCCCFCCCFCFFFFCFFCFFFCFCFCCCFCCCFCCCFCCCFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF</ImageData16x14>
	</Vendor>
	<Descriptions>
		<Groups>
			<Group>
				<Type>EtherCAT Driver</Type>
				<Name LcId="1033">EtherCAT Driver</Name>
				<Image16x14>DRIVE</Image16x14>
			</Group>
		</Groups>
		<Devices>
			<Device Physics="YY">
				<Type ProductCode="#x1000" RevisionNo="#x0001">UMOT MS-MINI3E</Type>
				<Name LcId="1033"><![CDATA[UMOT MS-MINI3E]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
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								<SubItem>
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									<Name>SubIndex 000</Name>
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								<SubItem>
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									<Name>Revision</Name>
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								<SubItem>
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							<DataType>
								<Name>DT1600</Name>
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								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
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									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
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									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
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									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
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							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</BitSize>
								<SubItem>
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									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
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								<SubItem>
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									<Name>Search Switch</Name>
									<Type>UDINT</Type>
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									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
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								<SubItem>
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									<Type>UDINT</Type>
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									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
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							</DataType>
							<DataType>
								<Name>DT60FE</Name>
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								<SubItem>
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									<Name>Number of Entries</Name>
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									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
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									<Name>Physical outputs</Name>
									<Type>UDINT</Type>
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									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
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									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
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								</SubItem>
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						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
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									<SubItem>
										<Name>Local Error Reaction</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error Counter Limit</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RPDO Mapping 1</Name>
								<Type>DT1600</Type>
								<BitSize>400</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 1</Name>
										<Info>
											<DefaultValue>#x60400010</DefaultValue>
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									<SubItem>
										<Name>Mapping Entry 2</Name>
										<Info>
											<DefaultValue>#x60600008</DefaultValue>
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									</SubItem>
									<SubItem>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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										<Info>
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									<SubItem>
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									<SubItem>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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											<DefaultValue>#x0</DefaultValue>
										</Info>
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										<Info>
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									<SubItem>
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									<SubItem>
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									<SubItem>
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											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1601</Index>
								<Name>RPDO Mapping 2</Name>
								<Type>DT1601</Type>
								<BitSize>400</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 1</Name>
										<Info>
											<DefaultValue>#x607a0020</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 2</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 3</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 4</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
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							<Object>
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								<Name>Func LimtsSenErr</Name>
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							<Object>
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								<Name>Func PhaseAngProtect</Name>
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							<Object>
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								<Name>Func MotorOnPhaseSet</Name>
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								</Info>
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							<Object>
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								</Info>
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							<Object>
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							<Object>
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								<Name>Func G1OfsetX0</Name>
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								<Name>Func FltTimes0</Name>
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							<Object>
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							<Object>
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								<Name>Func FltTimes4</Name>
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								<Name>Func Div</Name>
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							<Object>
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								<Name>Func IpeakMax</Name>
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								</Flags>
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								<Name>Func IBasePercent</Name>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
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								<Name>Func CloseIMaxPercent</Name>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
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								<BitSize>16</BitSize>
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									<Access>rw</Access>
								</Flags>
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							<Object>
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								<Name>Func IdleIPercent</Name>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
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								<Name>Func IdleTime</Name>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
								<Index>#x2407</Index>
								<Name>Func EncoderResolution</Name>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
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								<Name>Func Greardown</Name>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
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								<Name>Func Grearup</Name>
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									<DefaultValue>#x0</DefaultValue>
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									<Access>rw</Access>
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							<Object>
								<Index>#x240A</Index>
								<Name>Func AlmPos</Name>
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							<Object>
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								<Name>Func InPosErr</Name>
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							<Object>
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									<DefaultValue>#x0</DefaultValue>
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								</Flags>
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							<Object>
								<Index>#x240D</Index>
								<Name>Func FilterTime</Name>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
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							<Object>
								<Index>#x2500</Index>
								<Name>Func I_KpScale</Name>
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							<Object>
								<Index>#x2501</Index>
								<Name>Func I_Kp</Name>
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							<Object>
								<Index>#x2502</Index>
								<Name>Func I_Ki</Name>
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							<Object>
								<Index>#x2503</Index>
								<Name>Func I_Kc</Name>
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							<Object>
								<Index>#x2504</Index>
								<Name>Func LA_KP</Name>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
								<Index>#x2505</Index>
								<Name>Func LA_KV</Name>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
								<Index>#x2506</Index>
								<Name>Func LA_KVFF</Name>
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								<Name>Func LA_Ki</Name>
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							<Object>
								<Index>#x2508</Index>
								<Name>Func LA_SpdPoint1</Name>
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							<Object>
								<Index>#x2509</Index>
								<Name>Func LA_KP1</Name>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
								<Index>#x250A</Index>
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							<Object>
								<Index>#x250B</Index>
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							<Object>
								<Index>#x250C</Index>
								<Name>Func LA_KP2</Name>
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							<Object>
								<Index>#x250D</Index>
								<Name>Func LA_KV2</Name>
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							<Object>
								<Index>#x250E</Index>
								<Name>Func Close_limit</Name>
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								</Info>
								<Flags>
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								</Flags>
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							<Object>
								<Index>#x250F</Index>
								<Name>Func Open_limit</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
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								</Flags>
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							<Object>
								<Index>#x2510</Index>
								<Name>Func LA_ViSat</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
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								</Flags>
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							<Object>
								<Index>#x2511</Index>
								<Name>Func MotorLoseIRef</Name>
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								<BitSize>16</BitSize>
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								</Info>
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								</Flags>
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								<Index>#x2512</Index>
								<Name>Func MotorLoseIFbd</Name>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
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								</Flags>
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								<Index>#x2513</Index>
								<Name>Func Kvff</Name>
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								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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								<Index>#x2514</Index>
								<Name>Func Kaccff</Name>
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								</Flags>
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							<Object>
								<Index>#x2fff</Index>
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								</Flags>
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							<Object>
								<Index>#x603F</Index>
								<Name>ErrorCode</Name>
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								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
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							<Object>
								<Index>#x6040</Index>
								<Name>ControlWord</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
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									<PdoMapping>r</PdoMapping>
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							<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>#x605A</Index>
								<Name>Quickstop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable Operation Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</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>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<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 Position 1 Positive Value</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 Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</InitCmd>
					</CoE>
					<FoE />
				</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
					<BootStrap>0010800000118000</BootStrap>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x1100" RevisionNo="#x0001">UMOT MS-S3E</Type>
				<Name LcId="1033"><![CDATA[UMOT MS-S3E]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A01</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</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>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</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>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
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									<SubItem>
										<Name>Local Error Reaction</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error Counter Limit</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RPDO Mapping 1</Name>
								<Type>DT1600</Type>
								<BitSize>400</BitSize>
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									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
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									<SubItem>
										<Name>Mapping Entry 1</Name>
										<Info>
											<DefaultValue>#x60400010</DefaultValue>
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									<SubItem>
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											<DefaultValue>#x60600008</DefaultValue>
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									<SubItem>
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											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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											<DefaultValue>#x0</DefaultValue>
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											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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										</Info>
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									<SubItem>
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											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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											<DefaultValue>#x1</DefaultValue>
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									<SubItem>
										<Name>Mapping Entry 1</Name>
										<Info>
											<DefaultValue>#x607a0020</DefaultValue>
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									<SubItem>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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											<DefaultValue>#x0</DefaultValue>
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									</SubItem>
									<SubItem>
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											<DefaultValue>#x0</DefaultValue>
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									</SubItem>
									<SubItem>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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									<SubItem>
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								<Name>Func Greardown</Name>
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								<Name>Func LA_KP</Name>
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								<Name>Func LA_SpdPoint1</Name>
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								<Name>Func LA_KP1</Name>
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								<Name>Func LA_SpdPoint2</Name>
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								<Name>Func LA_KP2</Name>
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								<Name>Func LA_ViSat</Name>
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								<Flags>
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								<Index>#x2511</Index>
								<Name>Func MotorLoseIRef</Name>
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								<Name>Func MotorLoseIFbd</Name>
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								<Name>ErrorCode</Name>
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								<Flags>
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								<Index>#x6040</Index>
								<Name>ControlWord</Name>
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								<Index>#x6041</Index>
								<Name>StatusWord</Name>
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							<Object>
								<Index>#x605A</Index>
								<Name>Quickstop Option Code</Name>
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								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
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							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown Option Code</Name>
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								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable Operation Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
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								<Info>
									<DefaultValue>#x0</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>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<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 Position 1 Positive Value</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 Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</InitCmd>
					</CoE>
					<FoE />
				</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
					<BootStrap>0010800000118000</BootStrap>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x1200" RevisionNo="#x0001">UMOT MS-MINI2E</Type>
				<Name LcId="1033"><![CDATA[UMOT MS-MINI2E]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A01</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
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								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
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									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
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							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</BitSize>
								<SubItem>
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									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</BitSize>
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									<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>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
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								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
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							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
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									<SubItem>
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										<Info>
											<DefaultData>02</DefaultData>
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									<SubItem>
										<Name>Local Error Reaction</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
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									<SubItem>
										<Name>Sync Error Counter Limit</Name>
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											<DefaultData>04</DefaultData>
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							</Object>
							<Object>
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								<Name>RPDO Mapping 1</Name>
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								<BitSize>400</BitSize>
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										<Name>Mapping Entry 1</Name>
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											<DefaultValue>#x60400010</DefaultValue>
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											<DefaultValue>#x60600008</DefaultValue>
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											<DefaultValue>#x0</DefaultValue>
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											<DefaultValue>#x607a0020</DefaultValue>
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								<Name>Func LA_ViSat</Name>
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								<Name>Func MotorLoseIRef</Name>
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								<Name>ControlWord</Name>
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								<Index>#x605A</Index>
								<Name>Quickstop Option Code</Name>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
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							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown Option Code</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
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								</Flags>
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							<Object>
								<Index>#x605C</Index>
								<Name>Disable Operation Option Code</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
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								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
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								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
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							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Modes of operation display</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
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							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
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							<Object>
								<Index>#x6064</Index>
								<Name>Position actual value</Name>
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								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
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							</Object>
							<Object>
								<Index>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
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								</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>
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								</Flags>
							</Object>
							<Object>
								<Index>#x607A</Index>
								<Name>Target position</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607C</Index>
								<Name>Home offset</Name>
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								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<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 Position 1 Positive Value</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 Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</InitCmd>
					</CoE>
					<FoE />
				</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
					<BootStrap>0010800000118000</BootStrap>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x2000" RevisionNo="#x0001">UMOT UM244E</Type>
				<Name LcId="1033"><![CDATA[UMOT UM244E]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A01</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</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>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</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>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RPDO Mapping 1</Name>
								<Type>DT1600</Type>
								<BitSize>400</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</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>#x60600008</DefaultValue>
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											<DefaultValue>#x0</DefaultValue>
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									</SubItem>
									<SubItem>
										<Name>Mapping Entry 11</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 12</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1c00</Index>
								<Name>Sync manager type</Name>
								<Type>DT1C00</Type>
								<BitSize>48</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 003</Name>
										<Info>
											<DefaultData>03</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 004</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c32</Index>
								<Name>SM output parameter</Name>
								<Type>DT1C32</Type>
								<BitSize>488</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>20</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Synchronization Type</Name>
										<Info>
											<DefaultData>0100</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Cycle Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Synchronization Types supported</Name>
										<Info>
											<DefaultData>0780</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum Cycle Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Calc and Copy Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Get Cycle Time</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Delay Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync0 Cycle Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SM-Event Missed</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Cycle Time Too Small</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c33</Index>
								<Name>SM input parameter</Name>
								<Type>DT1C33</Type>
								<BitSize>488</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>20</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Synchronization Type</Name>
										<Info>
											<DefaultData>2200</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Cycle Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Synchronization Types supported</Name>
										<Info>
											<DefaultData>0780</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum Cycle Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Calc and Copy Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Get Cycle Time</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Delay Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync0 Cycle Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SM-Event Missed</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Cycle Time Too Small</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c12</Index>
								<Name>RxPDO assign</Name>
								<Type>DT1C12</Type>
								<BitSize>48</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Manager 2, PDO Mapping 0</Name>
										<Info>
											<DefaultData>1600</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Manager 2, PDO Mapping 1</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1c13</Index>
								<Name>TxPDO assign</Name>
								<Type>DT1C13</Type>
								<BitSize>48</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Manager 3, PDO Mapping 0</Name>
										<Info>
											<DefaultData>001A</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Manager 3, PDO Mapping 1</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x2000</Index>
								<Name>Func DriverID</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2001</Index>
								<Name>Func SoftVersion</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2004</Index>
								<Name>Func InState</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2005</Index>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2102</Index>
								<Name>Func EepromCmd</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2201</Index>
								<Name>Func DivOrGear</Name>
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								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2203</Index>
								<Name>Func MfClearErr</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2204</Index>
								<Name>Func ChaoStop</Name>
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								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2205</Index>
								<Name>Func DefaultDir</Name>
								<Type>UINT</Type>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2208</Index>
								<Name>Func FilterEnable</Name>
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								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2209</Index>
								<Name>Func FilterRatio</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x220A</Index>
								<Name>Func MicDivEnable</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x220B</Index>
								<Name>Func MicSyncCnt</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x220C</Index>
								<Name>Func SensorErr</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2211</Index>
								<Name>Func MotorPwrInit</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2213</Index>
								<Name>Func DisplaySpdFilt</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2214</Index>
								<Name>Func HomeOptSet</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2215</Index>
								<Name>Func NodeSourceSet</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2216</Index>
								<Name>Func NodeRegSet</Name>
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								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2217</Index>
								<Name>Func SyncCnt</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x221A</Index>
								<Name>Func StopsSenErr</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x221B</Index>
								<Name>Func LimtsSenErr</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x221E</Index>
								<Name>Func HomingTimeOut</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2300</Index>
								<Name>Func InLogicLevel</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2301</Index>
								<Name>Func OuLogicLevel</Name>
								<Type>UINT</Type>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2310</Index>
								<Name>Func G1OfsetX0</Name>
								<Type>UINT</Type>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2311</Index>
								<Name>Func G1OfsetX1</Name>
								<Type>UINT</Type>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x2312</Index>
								<Name>Func G1OfsetX2</Name>
								<Type>UINT</Type>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x2313</Index>
								<Name>Func G1OfsetX3</Name>
								<Type>UINT</Type>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2320</Index>
								<Name>Func G1OfsetY0</Name>
								<Type>UINT</Type>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2321</Index>
								<Name>Func G1OfsetY1</Name>
								<Type>UINT</Type>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x2330</Index>
								<Name>Func FltTimes0</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
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							<Object>
								<Index>#x2331</Index>
								<Name>Func FltTimes1</Name>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x2332</Index>
								<Name>Func FltTimes2</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2333</Index>
								<Name>Func FltTimes3</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2400</Index>
								<Name>Func Div</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2401</Index>
								<Name>Func IpeakMax</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x2402</Index>
								<Name>Func IBasePercent</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x2404</Index>
								<Name>Func OpenIMaxPercent</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x2405</Index>
								<Name>Func IdleIPercent</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2406</Index>
								<Name>Func IdleTime</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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								<Index>#x2408</Index>
								<Name>Func Greardown</Name>
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								<BitSize>16</BitSize>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
								<Index>#x2409</Index>
								<Name>Func Grearup</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
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								<Index>#x240D</Index>
								<Name>Func FilterTime</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x2500</Index>
								<Name>Func I_KpScale</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
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							<Object>
								<Index>#x2501</Index>
								<Name>Func I_Kp</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
								<Index>#x2502</Index>
								<Name>Func I_Ki</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x2503</Index>
								<Name>Func I_Kc</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2511</Index>
								<Name>Func MotorLoseIRef</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x2512</Index>
								<Name>Func MotorLoseIFbd</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
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							</Object>
							<Object>
								<Index>#x2FFF</Index>
								<Name>Func Reserved</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>ErrorCode</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>ControlWord</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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							</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>
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							</Object>
							<Object>
								<Index>#x605A</Index>
								<Name>Quickstop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable Operation Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</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>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<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 Position 1 Positive Value</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 Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x2100" RevisionNo="#x0001">UMOT UM2608PE</Type>
				<Name LcId="1033"><![CDATA[UMOT UM2608PE]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
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								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
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									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
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								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
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									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
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								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
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									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
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								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
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									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
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								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
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									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
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									<Name>Mapping Entry 9</Name>
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									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
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									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
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									<BitSize>32</BitSize>
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							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
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									<SubIdx>0</SubIdx>
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										<Access WriteRestrictions="PreOP">rw</Access>
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									<Name>Mapping Entry 4</Name>
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									<Name>Mapping Entry 5</Name>
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									<Name>Mapping Entry 6</Name>
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								<SubItem>
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									<Name>Mapping Entry 9</Name>
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								<SubItem>
									<SubIdx>10</SubIdx>
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									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</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>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</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>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RPDO Mapping 1</Name>
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										<Name>Sync0 Cycle Time</Name>
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											<DefaultData>2200</DefaultData>
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											<DefaultData>00000000</DefaultData>
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										<Info>
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										<Name>Sync0 Cycle Time</Name>
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											<DefaultData>01</DefaultData>
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									<SubItem>
										<Name>Sync Manager 2, PDO Mapping 0</Name>
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											<DefaultData>1600</DefaultData>
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									<SubItem>
										<Name>Sync Manager 2, PDO Mapping 1</Name>
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											<DefaultData>0000</DefaultData>
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								<Index>#x1c13</Index>
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										<Name>SubIndex 000</Name>
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									<SubItem>
										<Name>Sync Manager 3, PDO Mapping 0</Name>
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											<DefaultData>001A</DefaultData>
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										<Name>Sync Manager 3, PDO Mapping 1</Name>
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								<Name>Func DivOrGear</Name>
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								<Flags>
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								<Index>#x2205</Index>
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								<Index>#x2209</Index>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
								<Index>#x220A</Index>
								<Name>Func MicDivEnable</Name>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
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							<Object>
								<Index>#x220B</Index>
								<Name>Func MicSyncCnt</Name>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
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							<Object>
								<Index>#x220C</Index>
								<Name>Func SensorErr</Name>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x2211</Index>
								<Name>Func MotorPwrInit</Name>
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								<Flags>
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							<Object>
								<Index>#x606C</Index>
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								</Info>
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									<DefaultValue>#x0</DefaultValue>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
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								<Index>#x607D</Index>
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											<DefaultValue>#x2</DefaultValue>
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									<SubItem>
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										</Info>
									</SubItem>
									<SubItem>
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										</Info>
									</SubItem>
								</Info>
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							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
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							<Object>
								<Index>#x6081</Index>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
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							<Object>
								<Index>#x6083</Index>
								<Name>Profile acceleration</Name>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
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							<Object>
								<Index>#x6084</Index>
								<Name>Profile deceleration</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
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									<SubItem>
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										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<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 Position 1 Positive Value</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 Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x2300" RevisionNo="#x0001">UMOT UM3722PE</Type>
				<Name LcId="1033"><![CDATA[UMOT UM3722PE]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A01</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
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							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</BitSize>
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									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RPDO Mapping 1</Name>
								<Type>DT1600</Type>
								<BitSize>400</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 1</Name>
										<Info>
											<DefaultValue>#x60400010</DefaultValue>
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									</SubItem>
									<SubItem>
										<Name>Mapping Entry 2</Name>
										<Info>
											<DefaultValue>#x60600008</DefaultValue>
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									<SubItem>
										<Name>Mapping Entry 3</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
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									<SubItem>
										<Name>Mapping Entry 4</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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								<Index>#x1601</Index>
								<Name>RPDO Mapping 2</Name>
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											<DefaultValue>#x1</DefaultValue>
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										<Name>Mapping Entry 1</Name>
										<Info>
											<DefaultValue>#x607a0020</DefaultValue>
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									<SubItem>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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											<DefaultValue>#x0</DefaultValue>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 6</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
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									<SubItem>
										<Name>Mapping Entry 7</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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									<SubItem>
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											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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								<Name>TPDO Mapping 1</Name>
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								<Info>
									<SubItem>
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											<DefaultValue>#x60610008</DefaultValue>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
										<Name>Sync0 Cycle Time</Name>
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											<DefaultData>00000000</DefaultData>
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									<SubItem>
										<Name>SM-Event Missed</Name>
										<Info>
											<DefaultData>0000</DefaultData>
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									<SubItem>
										<Name>Cycle Time Too Small</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
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								<Index>#x2502</Index>
								<Name>Func I_Ki</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2503</Index>
								<Name>Func I_Kc</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
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							</Object>
							<Object>
								<Index>#x2FFF</Index>
								<Name>Func Reserved</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>ErrorCode</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</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>#x605A</Index>
								<Name>Quickstop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable Operation Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</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>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<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 Position 1 Positive Value</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 Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x2600" RevisionNo="#x0001">UMOT UM2105PE</Type>
				<Name LcId="1033"><![CDATA[UMOT UM2105PE]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
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									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
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									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
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									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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							<DataType>
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								<BitSize>400</BitSize>
								<SubItem>
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									<Name>Number of Entries</Name>
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									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 1</Name>
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									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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									<BitSize>32</BitSize>
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								<SubItem>
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								<SubItem>
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									<Flags>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</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>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</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>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RPDO Mapping 1</Name>
								<Type>DT1600</Type>
								<BitSize>400</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</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>#x60600008</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 3</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 4</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 5</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 6</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 7</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 8</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 9</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 10</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 11</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 12</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1601</Index>
								<Name>RPDO Mapping 2</Name>
								<Type>DT1601</Type>
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								<Index>#x606C</Index>
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								<Name>Software Position limit</Name>
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									<SubItem>
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											<DefaultValue>#x2</DefaultValue>
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									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
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									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
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							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
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								<Name>Profile velocity</Name>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
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							<Object>
								<Index>#x6083</Index>
								<Name>Profile acceleration</Name>
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									<DefaultValue>#x0</DefaultValue>
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								<Name>Profile deceleration</Name>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
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							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
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								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
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										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
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									<SubItem>
										<Name>Motor revolutions</Name>
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											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
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										</Info>
									</SubItem>
								</Info>
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								<Name>Homing method</Name>
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									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
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							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
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										<Info>
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										</Info>
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									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Zero</Name>
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											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x609A</Index>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
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							<Object>
								<Index>#x60B8</Index>
								<Name>Touch Probe Function</Name>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
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							<Object>
								<Index>#x60B9</Index>
								<Name>Touch Probe Status</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
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							<Object>
								<Index>#x60BA</Index>
								<Name>Touch Probe Position 1 Positive Value</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BB</Index>
								<Name>Touch Probe Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x3000" RevisionNo="#x0001">UMOT UM242E</Type>
				<Name LcId="1033"><![CDATA[UMOT UM242E]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A01</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
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							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</BitSize>
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									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
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									<BitOffs>0</BitOffs>
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								<SubItem>
									<SubIdx>1</SubIdx>
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										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
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								<SubItem>
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									<BitOffs>48</BitOffs>
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										<Access>rw</Access>
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							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</BitSize>
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									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
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									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
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										<Access>ro</Access>
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								<SubItem>
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								<SubItem>
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							<Object>
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							<Object>
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							<Object>
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								<Name>Identity</Name>
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									<Access>ro</Access>
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							<Object>
								<Index>#x1600</Index>
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										<Info>
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											<DefaultValue>#x60610008</DefaultValue>
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											<DefaultValue>#x606c0020</DefaultValue>
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								<Name>SM input parameter</Name>
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									<SubItem>
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										<Info>
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										<Info>
											<DefaultData>00000000</DefaultData>
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										<Name>Synchronization Types supported</Name>
										<Info>
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										<Name>Calc and Copy Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
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									<SubItem>
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										<Info>
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											<DefaultData>00000000</DefaultData>
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										<Info>
											<DefaultData>00000000</DefaultData>
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										<Info>
											<DefaultData>0000</DefaultData>
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										<Info>
											<DefaultData>0000</DefaultData>
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									<SubItem>
										<Name>Sync Error</Name>
										<Info>
											<DefaultData>00</DefaultData>
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									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
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								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</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>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<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 Position 1 Positive Value</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 Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x1500" RevisionNo="#x0001">UMOT SSD2105PE</Type>
				<Name LcId="1033"><![CDATA[UMOT SSD2105PE]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A01</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
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								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
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							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</BitSize>
								<SubItem>
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									<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>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</BitSize>
								<SubItem>
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									<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>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
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									<SubItem>
										<Name>Local Error Reaction</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error Counter Limit</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RPDO Mapping 1</Name>
								<Type>DT1600</Type>
								<BitSize>400</BitSize>
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									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
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									<SubItem>
										<Name>Mapping Entry 1</Name>
										<Info>
											<DefaultValue>#x60400010</DefaultValue>
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									<SubItem>
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											<DefaultValue>#x60600008</DefaultValue>
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											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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											<DefaultValue>#x0</DefaultValue>
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											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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											<DefaultValue>#x0</DefaultValue>
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											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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											<DefaultValue>#x1</DefaultValue>
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									</SubItem>
									<SubItem>
										<Name>Mapping Entry 1</Name>
										<Info>
											<DefaultValue>#x607a0020</DefaultValue>
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									<SubItem>
										<Name>Mapping Entry 2</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
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									</SubItem>
									<SubItem>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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									</SubItem>
									<SubItem>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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									</SubItem>
									<SubItem>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
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											<DefaultValue>#x0</DefaultValue>
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									</SubItem>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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								<Index>#x605A</Index>
								<Name>Quickstop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable Operation Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</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>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<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 Position 1 Positive Value</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 Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
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					<Entry>
						<Index>#x607A</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
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				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x6041</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>StatusWord</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x6064</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position actual value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</InitCmd>
					</CoE>
					<FoE />
				</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
					<BootStrap>0010800000118000</BootStrap>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x1300" RevisionNo="#x0001">UMOT SSD242E</Type>
				<Name LcId="1033"><![CDATA[UMOT SSD242E]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A01</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
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								<ArrayInfo>
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									<Elements>4</Elements>
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							<DataType>
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								<BitSize>48</BitSize>
								<SubItem>
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									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</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>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</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>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Local Error Reaction</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error Counter Limit</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RPDO Mapping 1</Name>
								<Type>DT1600</Type>
								<BitSize>400</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</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>#x60600008</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 3</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 4</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 5</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 6</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 7</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 8</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 9</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 10</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
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									</SubItem>
									<SubItem>
										<Name>Mapping Entry 12</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1601</Index>
								<Name>RPDO Mapping 2</Name>
								<Type>DT1601</Type>
								<BitSize>400</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 1</Name>
										<Info>
											<DefaultValue>#x607a0020</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 2</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 3</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 4</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 5</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 6</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 7</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
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								</Flags>
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							<Object>
								<Index>#x2fff</Index>
								<Name>Func Reserved</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>ErrorCode</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>#x605A</Index>
								<Name>Quickstop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable Operation Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</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>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<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 Position 1 Positive Value</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 Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</InitCmd>
					</CoE>
					<FoE />
				</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
					<BootStrap>0010800000118000</BootStrap>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x1400" RevisionNo="#x0001">UMOT SSD2505PE</Type>
				<Name LcId="1033"><![CDATA[UMOT SSD2505PE]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
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								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
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								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
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									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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							</DataType>
							<DataType>
								<Name>DT1A01</Name>
								<BitSize>400</BitSize>
								<SubItem>
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									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 1</Name>
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									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 2</Name>
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									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
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									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 4</Name>
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									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 8</Name>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 9</Name>
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									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</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>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</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>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Local Error Reaction</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error Counter Limit</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RPDO Mapping 1</Name>
								<Type>DT1600</Type>
								<BitSize>400</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</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>#x60600008</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 3</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 4</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 5</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 6</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 7</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 8</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 9</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 10</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 11</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 12</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
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								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2511</Index>
								<Name>Func MotorLoseIRef</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
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							</Object>
							<Object>
								<Index>#x2512</Index>
								<Name>Func MotorLoseIFbd</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2513</Index>
								<Name>Func Kvff</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
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							</Object>
							<Object>
								<Index>#x2514</Index>
								<Name>Func Kaccff</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2fff</Index>
								<Name>Func Reserved</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>ErrorCode</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>#x605A</Index>
								<Name>Quickstop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable Operation Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</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>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<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 Position 1 Positive Value</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 Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</InitCmd>
					</CoE>
					<FoE />
				</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
					<BootStrap>0010800000118000</BootStrap>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x1600" RevisionNo="#x0001">UMOT MS2-S3E</Type>
				<Name LcId="1033"><![CDATA[UMOT MS2-S3E]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
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								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 12</Name>
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									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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							<DataType>
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								<SubItem>
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									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
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									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</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>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</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>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Local Error Reaction</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error Counter Limit</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RPDO Mapping 1</Name>
								<Type>DT1600</Type>
								<BitSize>400</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</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>#x60600008</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 3</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
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								<Index>#x250C</Index>
								<Name>Func LA_KP2</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x250D</Index>
								<Name>Func LA_KV2</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x250E</Index>
								<Name>Func Close_limit</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x250F</Index>
								<Name>Func Open_limit</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2510</Index>
								<Name>Func LA_ViSat</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2511</Index>
								<Name>Func MotorLoseIRef</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2512</Index>
								<Name>Func MotorLoseIFbd</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2513</Index>
								<Name>Func Kvff</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2514</Index>
								<Name>Func Kaccff</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2fff</Index>
								<Name>Func Reserved</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>ErrorCode</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>#x605A</Index>
								<Name>Quickstop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable Operation Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</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>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<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 Position 1 Positive Value</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 Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</InitCmd>
					</CoE>
					<FoE />
				</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
					<BootStrap>0010800000118000</BootStrap>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x1A00" RevisionNo="#x0001">UMOT ESD242E</Type>
				<Name LcId="1033"><![CDATA[UMOT ESD242E]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
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							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
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								<SubItem>
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									<Name>Mapping Entry 12</Name>
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									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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							<DataType>
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								<BitSize>400</BitSize>
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									<Name>Number of Entries</Name>
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									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</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>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</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>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
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								<Name>Func LA_ViSat</Name>
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								<Flags>
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								<Name>Func MotorLoseIRef</Name>
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								<BitSize>16</BitSize>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2512</Index>
								<Name>Func MotorLoseIFbd</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2513</Index>
								<Name>Func Kvff</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2514</Index>
								<Name>Func Kaccff</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2fff</Index>
								<Name>Func Reserved</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>ErrorCode</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>#x605A</Index>
								<Name>Quickstop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable Operation Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</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>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<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 Position 1 Positive Value</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 Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</InitCmd>
					</CoE>
					<FoE />
				</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
					<BootStrap>0010800000118000</BootStrap>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x1B00" RevisionNo="#x0001">UMOT ESD2505PE</Type>
				<Name LcId="1033"><![CDATA[UMOT ESD2505PE]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
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								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 12</Name>
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									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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							<DataType>
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								<SubItem>
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									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
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									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
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									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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								<SubItem>
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								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</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>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</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>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Local Error Reaction</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error Counter Limit</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RPDO Mapping 1</Name>
								<Type>DT1600</Type>
								<BitSize>400</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</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>#x60600008</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 3</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 4</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 5</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
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									<SubItem>
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											<DefaultData>01</DefaultData>
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								<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>#x605A</Index>
								<Name>Quickstop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable Operation Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</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>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<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 Position 1 Positive Value</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 Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow 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>#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>80</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>Bit 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>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" 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>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</InitCmd>
					</CoE>
					<FoE />
				</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>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
					<BootStrap>0010800000118000</BootStrap>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x1C00" RevisionNo="#x0001">UMOT ESD2105PE</Type>
				<Name LcId="1033"><![CDATA[UMOT ESD2105PE]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mapping Entry 11</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
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									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
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									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
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									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>4</SubIdx>
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									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>5</SubIdx>
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									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>6</SubIdx>
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									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 8</Name>
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									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
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									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 11</Name>
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									<BitOffs>336</BitOffs>
									<Flags>
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								<SubItem>
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									<BitOffs>368</BitOffs>
									<Flags>
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									<Name>Number of Entries</Name>
									<Type>USINT</Type>
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									<BitOffs>0</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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								<SubItem>
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									<BitOffs>48</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 3</Name>
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									<BitOffs>80</BitOffs>
									<Flags>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</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>
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									<Name>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
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									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</BitSize>
								<SubItem>
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									<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>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Local Error Reaction</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error Counter Limit</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RPDO Mapping 1</Name>
								<Type>DT1600</Type>
								<BitSize>400</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 1</Name>
										<Info>
											<DefaultValue>#x60400010</DefaultValue>
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									</SubItem>
									<SubItem>
										<Name>Mapping Entry 2</Name>
										<Info>
											<DefaultValue>#x60600008</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
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										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
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									<SubItem>
										<Name>Mapping Entry 4</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
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									<SubItem>
										<Name>Mapping Entry 5</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 6</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 7</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 8</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 9</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 10</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 11</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 12</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1601</Index>
								<Name>RPDO Mapping 2</Name>
								<Type>DT1601</Type>
								<BitSize>400</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 1</Name>
										<Info>
											<DefaultValue>#x607a0020</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mapping Entry 2</Name>
										<Info>
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								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
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							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
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							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Modes of operation display</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</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>
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							</Object>
							<Object>
								<Index>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</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>
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							</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>
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							</Object>
							<Object>
								<Index>#x607C</Index>
								<Name>Home offset</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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							</Object>
							<Object>
								<Index>#x6081</Index>
								<Name>Profile velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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							</Object>
							<Object>
								<Index>#x6083</Index>
								<Name>Profile acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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							</Object>
							<Object>
								<Index>#x6084</Index>
								<Name>Profile deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
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							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Search 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>
									<PdoMapping>r</PdoMapping>
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							</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>
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							</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>
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							</Object>
							<Object>
								<Index>#x60BA</Index>
								<Name>Touch Probe Position 1 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60BB</Index>
								<Name>Touch Probe Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow Error Actual Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60FD</Index>
								<Name>Digital inputs</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							<Object>
								<Index>#x60FE</Index>
								<Name>Digital outputs</Name>
								<Type>DT60FE</Type>
								<BitSize>80</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>Bit 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>
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								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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							</Object>
							<Object>
								<Index>#x6502</Index>
								<Name>Supported Drive Modes</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
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							</Object>
						</Objects>
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				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="68" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="68" DefaultSize="39" StartAddress="#x1300" ControlByte="#x20" Enable="1">Inputs</Sm>
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					<Name>RxPDO 1</Name>
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						<Index>#x6040</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ControlWord</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x607A</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
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				</RxPdo>
				<RxPdo Fixed="0">
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					<Name>RxPDO 2</Name>
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						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
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					<Name>TxPDO 1</Name>
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						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x6041</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>StatusWord</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x6064</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position actual value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
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					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Positive Value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Positive Value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60BD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Position 2 Negative Value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
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				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A01</Index>
					<Name>TxPDO 2</Name>
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					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
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					</CoE>
					<FoE />
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					<OpMode>
						<Name>DC</Name>
						<Desc>DC-Synchron</Desc>
						<AssignActivate>#x300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003C0000FF0300000000</ConfigData>
					<BootStrap>0010800000118000</BootStrap>
				</Eeprom>
			</Device>
			<Device Physics="YY">
				<Type ProductCode="#x1D00" RevisionNo="#x0001">UMOT ESD2608PE</Type>
				<Name LcId="1033"><![CDATA[UMOT ESD2608PE]]></Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>EtherCAT Driver</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>BYTE</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(10)</Name>
								<BitSize>80</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</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>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>400</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
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								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
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									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
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								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
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									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
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								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
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									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
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								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
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									<Name>Mapping Entry 11</Name>
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									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
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									<BitOffs>368</BitOffs>
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								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Mapping Entry 13</Name>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Mapping Entry 14</Name>
									<Type>UDINT</Type>
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									<BitOffs>432</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Mapping Entry 15</Name>
									<Type>UDINT</Type>
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									<BitOffs>464</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Mapping Entry 16</Name>
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								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>Mapping Entry 17</Name>
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								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>Mapping Entry 18</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>560</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>19</SubIdx>
									<Name>Mapping Entry 19</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>592</BitOffs>
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								<SubItem>
									<SubIdx>20</SubIdx>
									<Name>Mapping Entry 20</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>624</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>21</SubIdx>
									<Name>Mapping Entry 21</Name>
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									<BitSize>32</BitSize>
									<BitOffs>656</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>22</SubIdx>
									<Name>Mapping Entry 22</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>688</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>23</SubIdx>
									<Name>Mapping Entry 23</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>720</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>24</SubIdx>
									<Name>Mapping Entry 24</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>752</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>25</SubIdx>
									<Name>Mapping Entry 25</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>784</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>26</SubIdx>
									<Name>Mapping Entry 26</Name>
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									<BitSize>32</BitSize>
									<BitOffs>816</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>27</SubIdx>
									<Name>Mapping Entry 27</Name>
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									<BitOffs>848</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>28</SubIdx>
									<Name>Mapping Entry 28</Name>
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									<BitSize>32</BitSize>
									<BitOffs>880</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>29</SubIdx>
									<Name>Mapping Entry 29</Name>
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									<BitSize>32</BitSize>
									<BitOffs>912</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>30</SubIdx>
									<Name>Mapping Entry 30</Name>
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									<BitSize>32</BitSize>
									<BitOffs>944</BitOffs>
									<Flags>
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								<SubItem>
									<SubIdx>31</SubIdx>
									<Name>Mapping Entry 31</Name>
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									<BitSize>32</BitSize>
									<BitOffs>976</BitOffs>
									<Flags>
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								<SubItem>
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									<BitOffs>1008</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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							</DataType>
							<DataType>
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								<SubItem>
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									<Name>Number of Entries</Name>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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									<BitOffs>112</BitOffs>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
									<SubIdx>23</SubIdx>
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								<SubItem>
									<SubIdx>24</SubIdx>
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									<BitOffs>752</BitOffs>
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								<SubItem>
									<SubIdx>25</SubIdx>
									<Name>Mapping Entry 25</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>784</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>26</SubIdx>
									<Name>Mapping Entry 26</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>816</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>27</SubIdx>
									<Name>Mapping Entry 27</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>848</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>28</SubIdx>
									<Name>Mapping Entry 28</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>880</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>29</SubIdx>
									<Name>Mapping Entry 29</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>912</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>30</SubIdx>
									<Name>Mapping Entry 30</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>944</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>31</SubIdx>
									<Name>Mapping Entry 31</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>976</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Mapping Entry 32</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>1008</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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							<DataType>
								<Name>DT1A00</Name>
								<BitSize>400</BitSize>
								<SubItem>
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									<Name>Number of Entries</Name>
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										<Access WriteRestrictions="PreOP">rw</Access>
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									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
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									<BitOffs>16</BitOffs>
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								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
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									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mapping Entry 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Mapping Entry 6</Name>
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									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Mapping Entry 7</Name>
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									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Mapping Entry 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Mapping Entry 9</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Mapping Entry 10</Name>
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									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 11</Name>
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									<BitSize>32</BitSize>
									<BitOffs>336</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Mapping Entry 12</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>368</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Mapping Entry 13</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>400</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Mapping Entry 14</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>432</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Mapping Entry 15</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>464</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Mapping Entry 16</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>496</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>Mapping Entry 17</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>528</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>Mapping Entry 18</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>560</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>19</SubIdx>
									<Name>Mapping Entry 19</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>592</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>20</SubIdx>
									<Name>Mapping Entry 20</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>624</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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									<Name>Mapping Entry 21</Name>
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									<BitSize>32</BitSize>
									<BitOffs>656</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
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									<Name>Mapping Entry 22</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>688</BitOffs>
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								<SubItem>
									<SubIdx>23</SubIdx>
									<Name>Mapping Entry 23</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>720</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>24</SubIdx>
									<Name>Mapping Entry 24</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>752</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>25</SubIdx>
									<Name>Mapping Entry 25</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>784</BitOffs>
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								<SubItem>
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									<Name>Mapping Entry 26</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>816</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>27</SubIdx>
									<Name>Mapping Entry 27</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>848</BitOffs>
									<Flags>
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								<SubItem>
									<SubIdx>28</SubIdx>
									<Name>Mapping Entry 28</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>880</BitOffs>
									<Flags>
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								<SubItem>
									<SubIdx>29</SubIdx>
									<Name>Mapping Entry 29</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>912</BitOffs>
									<Flags>
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								<SubItem>
									<SubIdx>30</SubIdx>
									<Name>Mapping Entry 30</Name>
									<Type>UDINT</Type>
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									<BitOffs>944</BitOffs>
									<Flags>
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								<SubItem>
									<SubIdx>31</SubIdx>
									<Name>Mapping Entry 31</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>976</BitOffs>
									<Flags>
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								<SubItem>
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									<Name>Mapping Entry 32</Name>
									<Type>UDINT</Type>
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									<BitOffs>1008</BitOffs>
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							<DataType>
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									<Name>Number of Entries</Name>
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									<Name>Mapping Entry 1</Name>
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								<SubItem>
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									<Name>Mapping Entry 2</Name>
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									<BitOffs>48</BitOffs>
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								<SubItem>
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									<Name>Mapping Entry 3</Name>
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									<BitOffs>80</BitOffs>
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								<SubItem>
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									<Name>Mapping Entry 4</Name>
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									<BitOffs>112</BitOffs>
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								<SubItem>
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									<Name>Mapping Entry 5</Name>
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								<SubItem>
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									<Name>Mapping Entry 6</Name>
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								<SubItem>
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								<SubItem>
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									<Name>Mapping Entry 8</Name>
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									<BitOffs>240</BitOffs>
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								<SubItem>
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									<Name>Mapping Entry 9</Name>
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									<BitOffs>272</BitOffs>
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								<SubItem>
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								<SubItem>
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									<Name>Mapping Entry 11</Name>
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								<SubItem>
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								<SubItem>
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									<Name>Mapping Entry 13</Name>
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								<SubItem>
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									<BitOffs>432</BitOffs>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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									<BitOffs>592</BitOffs>
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								<SubItem>
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								<SubItem>
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									<Name>Mapping Entry 21</Name>
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									<BitOffs>656</BitOffs>
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								<SubItem>
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									<Name>Mapping Entry 22</Name>
									<Type>UDINT</Type>
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									<BitOffs>688</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>23</SubIdx>
									<Name>Mapping Entry 23</Name>
									<Type>UDINT</Type>
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									<BitOffs>720</BitOffs>
									<Flags>
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								<SubItem>
									<SubIdx>24</SubIdx>
									<Name>Mapping Entry 24</Name>
									<Type>UDINT</Type>
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									<BitOffs>752</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>25</SubIdx>
									<Name>Mapping Entry 25</Name>
									<Type>UDINT</Type>
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									<BitOffs>784</BitOffs>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>26</SubIdx>
									<Name>Mapping Entry 26</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>816</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
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								<SubItem>
									<SubIdx>27</SubIdx>
									<Name>Mapping Entry 27</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>848</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>28</SubIdx>
									<Name>Mapping Entry 28</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>880</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>29</SubIdx>
									<Name>Mapping Entry 29</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>912</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>30</SubIdx>
									<Name>Mapping Entry 30</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>944</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>31</SubIdx>
									<Name>Mapping Entry 31</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>976</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Mapping Entry 32</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>1008</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</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>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</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>Search Switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Search Zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</Name>
								<BitSize>80</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>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>262546</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(10)</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Local Error Reaction</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error Counter Limit</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>Axis1 RPDO Mapping 1</Name>
								<Type>DT1600</Type>
								<BitSize>400</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1601</Index>
								<Name>Axis1 RPDO Mapping 2</Name>
								<Type>DT1601</Type>
								<BitSize>400</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A00</Index>
								<Name>Axis1 TPDO Mapping 1</Name>
								<Type>DT1A00</Type>
								<BitSize>400</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A01</Index>
								<Name>Axis1 TPDO Mapping 2</Name>
								<Type>DT1A01</Type>
								<BitSize>400</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c00</Index>
								<Name>Sync manager type</Name>
								<Type>DT1C00</Type>
								<BitSize>48</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 003</Name>
										<Info>
											<DefaultData>03</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 004</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c32</Index>
								<Name>SM output parameter</Name>
								<Type>DT1C32</Type>
								<BitSize>488</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>20</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Synchronization Type</Name>
										<Info>
											<DefaultData>0100</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Cycle Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Synchronization Types supported</Name>
										<Info>
											<DefaultData>0780</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum Cycle Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Calc and Copy Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Get Cycle Time</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Delay Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync0 Cycle Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SM-Event Missed</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Cycle Time Too Small</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c33</Index>
								<Name>SM input parameter</Name>
								<Type>DT1C33</Type>
								<BitSize>488</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>20</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Synchronization Type</Name>
										<Info>
											<DefaultData>2200</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Cycle Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Synchronization Types supported</Name>
										<Info>
											<DefaultData>0780</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum Cycle Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Calc and Copy Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Get Cycle Time</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Delay Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync0 Cycle Time</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SM-Event Missed</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Cycle Time Too Small</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c12</Index>
								<Name>RxPDO assign</Name>
								<Type>DT1C12</Type>
								<BitSize>48</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Manager 2, PDO Mapping 0</Name>
										<Info>
											<DefaultData>1600</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Manager 2, PDO Mapping 1</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x1c13</Index>
								<Name>TxPDO assign</Name>
								<Type>DT1C13</Type>
								<BitSize>48</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Manager 3, PDO Mapping 0</Name>
										<Info>
											<DefaultData>001A</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Manager 3, PDO Mapping 1</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x2000</Index>
								<Name>Func DriverID</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2001</Index>
								<Name>Func SoftVersion</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2004</Index>
								<Name>Func InState</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2005</Index>
								<Name>Func OuState</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2102</Index>
								<Name>Func EepromCmd</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2201</Index>
								<Name>Func DivOrGear</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2203</Index>
								<Name>Func MfClearErr</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2204</Index>
								<Name>Func ChaoStop</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2205</Index>
								<Name>Func DefaultDir</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2206</Index>
								<Name>Func DriverModeSet</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2208</Index>
								<Name>Func FilterEnable</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2209</Index>
								<Name>Func FilterRatio</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x220A</Index>
								<Name>Func MicDivEnable</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x220B</Index>
								<Name>Func MicSyncCnt</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x220C</Index>
								<Name>Func SensorErr</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x220D</Index>
								<Name>Func BkProtect</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2211</Index>
								<Name>Func MotorPwrInit</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2212</Index>
								<Name>Func IndexWidth</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2213</Index>
								<Name>Func DisplaySpdFilt</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2214</Index>
								<Name>Func HomeOptSet</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2215</Index>
								<Name>Func NodeSourceSet</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2216</Index>
								<Name>Func NodeRegSet</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2217</Index>
								<Name>Func SyncCnt</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2218</Index>
								<Name>Func StoValid</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2219</Index>
								<Name>Func StoTime</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x221A</Index>
								<Name>Func StopsSenErr</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x221B</Index>
								<Name>Func LimtsSenErr</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x221C</Index>
								<Name>Func PhaseAngProtect</Name>
								<Type>UINT</Type>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x221D</Index>
								<Name>Func MotorOnPhaseSet</Name>
								<Type>UINT</Type>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
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							<Object>
								<Index>#x221E</Index>
								<Name>Func HomingTimeOut</Name>
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								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
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							<Object>
								<Index>#x2300</Index>
								<Name>Func InLogicLevel</Name>
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								<BitSize>16</BitSize>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2301</Index>
								<Name>Func OuLogicLevel</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2310</Index>
								<Name>Func G1OfsetX0</Name>
								<Type>UINT</Type>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x2311</Index>
								<Name>Func G1OfsetX1</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2312</Index>
								<Name>Func G1OfsetX2</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2313</Index>
								<Name>Func G1OfsetX3</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2314</Index>
								<Name>Func G1OfsetX4</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2320</Index>
								<Name>Func G1OfsetY0</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2321</Index>
								<Name>Func G1OfsetY1</Name>
								<Type>UINT</Type>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
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							<Object>
								<Index>#x2330</Index>
								<Name>Func FltTimes0</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2331</Index>
								<Name>Func FltTimes1</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2332</Index>
								<Name>Func FltTimes2</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2333</Index>
								<Name>Func FltTimes3</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2334</Index>
								<Name>Func FltTimes4</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
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								<Name>Func Greardown</Name>
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							<Object>
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								<Name>Func LA_SpdPoint1</Name>
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							<Object>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
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							<Object>
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								<Name>Func Close_limit</Name>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
								<Index>#x250F</Index>
								<Name>Func Open_limit</Name>
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									<DefaultValue>#x0</DefaultValue>
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							<Object>
								<Index>#x2510</Index>
								<Name>Func LA_ViSat</Name>
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								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2511</Index>
								<Name>Func MotorLoseIRef</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2512</Index>
								<Name>Func MotorLoseIFbd</Name>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
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							<Object>
								<Index>#x2513</Index>
								<Name>Func Kvff</Name>
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									<DefaultValue>#x0</DefaultValue>
								</Info>
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							<Object>
								<Index>#x2514</Index>
								<Name>Func Kaccff</Name>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x2fff</Index>
								<Name>Func Reserved</Name>
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								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x603F</Index>
								<Name>ErrorCode</Name>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>ro</Access>
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							<Object>
								<Index>#x6040</Index>
								<Name>ControlWord</Name>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
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							<Object>
								<Index>#x6041</Index>
								<Name>StatusWord</Name>
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									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x605A</Index>
								<Name>Quickstop Option Code</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown Option Code</Name>
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								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable Operation Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>FFFF</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
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								<Info>
									<DefaultValue>#x0</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>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</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>#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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>Software Position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum limit</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</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>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>QiuckStop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear Ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
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								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
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									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x2</DefaultValue>
										</Info>
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									<SubItem>
										<Name>Search Switch</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
										</Info>
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									<SubItem>
										<Name>Search Zero</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
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							<Object>
								<Index>#x609A</Index>
								<Name>Homing acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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								<Index>#x60B8</Index>
								<Name>Touch Probe Function</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
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								<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>
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							<Object>
								<Index>#x60BA</Index>
								<Name>Touch Probe Position 1 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							<Object>
								<Index>#x60BB</Index>
								<Name>Touch Probe Position 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe Position 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe Position 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe Position 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe Position 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe Position 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe Position 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Follow Error Actual Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60FD</Index>
								<Name>Digital inputs</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
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							</Object>
							<Object>
								<Index>#x60FE</Index>
								<Name>Digital outputs</Name>
								<Type>DT60FE</Type>
								<BitSize>80</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>Bit mask</Name>
										<Info>
											<DefaultValue>#x0</DefaultValue>
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									</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>
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							</Object>
							<Object>
								<Index>#x6502</Index>
								<Name>Supported Drive Modes</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x1dd</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
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							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="#x22" MaxSize="#x100" DefaultSize="#x80" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="#x22" MaxSize="#x100" DefaultSize="#x80" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MaxSize="#x100" DefaultSize="16" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MaxSize="#x100" DefaultSize="39" StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
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					<Name>RxPDO 1</Name>
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						<Index>#x6040</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ControlWord</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x607A</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>#x1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
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				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>RxPDO 2</Name>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
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				<TxPdo Fixed="0" Sm="3">
					<Index>#x1A00</Index>
					<Name>TxPDO 1</Name>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>ErrorCode</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x6041</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>StatusWord</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x6064</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position actual value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60FD</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
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					<Entry>
						<Index>#x606C</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>#x0</SubIndex>
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						<Name>Follow Error Actual Value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
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					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>#x0</SubIndex>
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						<Name>Touch Probe Position 1 Negative Value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>#x0</SubIndex>
						<BitLen>32</BitLen>
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						<SubIndex>#x0</SubIndex>
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						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
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					<Index>#x1A01</Index>
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				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="true" PdoAssign="true" PdoConfig="true" SegmentedSdo="true" CompleteAccess="true">
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							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
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							<!--CSP-->
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						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
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					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
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				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>080E02EE409C0000000000000000</ConfigData>
				</Eeprom>
			</Device>
		</Devices>
	</Descriptions>
</EtherCATInfo>
