--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EL2xxx.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,92654 @@
+<?xml version="1.0"?>
+<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
+	<Vendor>
+		<Id>2</Id>
+		<Name>Beckhoff Automation GmbH</Name>
+		<ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000100000001000000000000000000080000080000000808000800000008000800080800000C0C0C000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF009D9DD99DD9DDD9DD9D9D9DD9D9DDD9DD999D9DD9D999D9999D9D9DD9D9DDD9DD9D9DD99DD999D999DDDDDDDDDDDDDDDD88888888888888888888888888888888DDDDDDDDDDDDDDDD999D999DD99DD9D99D9D9DDD9DD9D9D999DD999D9DDDD99D9D9D9DDD9DD9D99D999D999DD99DD9D9</ImageData16x14>
+	</Vendor>
+	<Descriptions>
+		<Groups>
+			<Group SortOrder="320">
+				<Type>DigOut</Type>
+				<Name LcId="1033">Digital Output Terminals (EL2xxx)</Name>
+				<Name LcId="1031">Digitale Ausgangklemmen (EL2xxx)</Name>
+				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000120B0000120B00000000000000000000FF00FFFF00FFFF00FFFF00FFFF00FFFF00FF808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
+			</Group>
+		</Groups>
+		<Devices>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d23052" RevisionNo="#x00000000">EL2002</Type>
+				<HideType RevisionNo="#x27070000" ProductRevision="EL2002-0000-9991"/>
+				<HideType RevisionNo="#x27080000" ProductRevision="EL2002-0000-9992"/>
+				<HideType RevisionNo="#x270b0000" ProductRevision="EL2002-0000-9995"/>
+				<Name LcId="1033"><![CDATA[EL2002 2Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2002 2K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2002]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2002]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0201</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d23052" RevisionNo="#x00100000">EL2002</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2002-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2002 2Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2002 2K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2002]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2002]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d43052" RevisionNo="#x00000000">EL2004</Type>
+				<HideType RevisionNo="#x27070000" ProductRevision="EL2004-0000-9991"/>
+				<HideType RevisionNo="#x27080000" ProductRevision="EL2004-0000-9992"/>
+				<HideType RevisionNo="#x270b0000" ProductRevision="EL2004-0000-9995"/>
+				<Name LcId="1033"><![CDATA[EL2004 4Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2004 4K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2004]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2004]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0201</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d43052" RevisionNo="#x00100000">EL2004</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2004-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2004 4Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2004 4K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2004]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2004]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d83052" RevisionNo="#x00100000">EL2008</Type>
+				<Name LcId="1033"><![CDATA[EL2008 8Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2008 8K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2008]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2008]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07e63052" RevisionNo="#x00100000">EL2022</Type>
+				<Name LcId="1033"><![CDATA[EL2022 2Ch. Dig. Output 24V, 2A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2022 2K. Dig. Ausgang 24V, 2A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07e83052" RevisionNo="#x00100000">EL2024</Type>
+				<Name LcId="1033"><![CDATA[EL2024 4Ch. Dig. Output 24V, 2A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2024 4K. Dig. Ausgang 24V, 2A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2024]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2024]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07e83052" RevisionNo="#x0010000A">EL2024-0010</Type>
+				<Name LcId="1033"><![CDATA[EL2024-0010 4Ch. Dig. Output 12V, 2A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2024-0010 4K. Dig. Ausgang 12V, 2A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2024]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2024]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07f03052" RevisionNo="#x00000000">EL2032</Type>
+				<HideType RevisionNo="#x27070000" ProductRevision="EL2032-0000-9991"/>
+				<HideType RevisionNo="#x27080000" ProductRevision="EL2032-0000-9992"/>
+				<HideType RevisionNo="#x270b0000" ProductRevision="EL2032-0000-9995"/>
+				<Name LcId="1033"><![CDATA[EL2032 2Ch. Dig. Output 24V, 2A Diag]]></Name>
+				<Name LcId="1031"><![CDATA[EL2032 2K. Dig. Ausgang 24V, 2A Diag]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2032]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2032]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a00</Index>
+					<Name>Diag 1</Name>
+					<Entry>
+						<Index>#x3101</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a01</Index>
+					<Name>Diag 2</Name>
+					<Entry>
+						<Index>#x3101</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0301</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07f03052" RevisionNo="#x00100000">EL2032</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2032-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2032 2Ch. Dig. Output 24V, 2A, Diagnostic]]></Name>
+				<Name LcId="1031"><![CDATA[EL2032 2K. Dig. Ausgang 24V, 2A, Diagnose]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2032]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2032]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a00</Index>
+					<Name>Diag 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a01</Index>
+					<Name>Diag 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04010400</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07f23052" RevisionNo="#x00100000">EL2034</Type>
+				<Name LcId="1033"><![CDATA[EL2034 4Ch. Dig. Output 24V, 2A, Diagnostic]]></Name>
+				<Name LcId="1031"><![CDATA[EL2034 4K. Dig. Ausgang 24V, 2A, Diagnose]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2034]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2034]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1001" ControlByte="0" Enable="0">Inputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a00</Index>
+					<Name>Diag 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a01</Index>
+					<Name>Diag 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a02</Index>
+					<Name>Diag 3</Name>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a03</Index>
+					<Name>Diag 4</Name>
+					<Entry>
+						<Index>#x6030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07fa3052" RevisionNo="#x00100000">EL2042</Type>
+				<Name LcId="1033"><![CDATA[EL2042 2Ch. Dig. Output 24V, 4A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2042 2K. Dig. Ausgang 24V, 4A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2042]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2042]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08243052" RevisionNo="#x00100000">EL2084</Type>
+				<Name LcId="1033"><![CDATA[EL2084 4Ch. Dig. Output 24V, 0.5A, switching to negative]]></Name>
+				<Name LcId="1031"><![CDATA[EL2084 4K. Dig. Ausgang 24V, 0.5A, negativ schaltend]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2084]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2084]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08283052" RevisionNo="#x00100000">EL2088</Type>
+				<Name LcId="1033"><![CDATA[EL2088 8Ch. Dig. Output 24V, 0.5A, switching to negative]]></Name>
+				<Name LcId="1031"><![CDATA[EL2088 8K. Dig. Ausgang 24V, 0.5A, negativ schaltend]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2088]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2088]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x084c3052" RevisionNo="#x00100000">EL2124</Type>
+				<Name LcId="1033"><![CDATA[EL2124 4Ch. Dig. Output 5V, 20mA]]></Name>
+				<Name LcId="1031"><![CDATA[EL2124 4K. Dig. Ausgang 5V, 20mA]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2124]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2124]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x089A3052" RevisionNo="#x00000000">EL2202</Type>
+				<Name LcId="1033"><![CDATA[EL2202 2Ch. Dig. Output 24V, 0.5A, DC Sync]]></Name>
+				<Name LcId="1031"><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A, DC Sync]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcOff</Name>
+						<Desc>DC unused</Desc>
+						<AssignActivate>#x0000</AssignActivate>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>DC Sync Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0201</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x089A3052" RevisionNo="#x00100000">EL2202</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2202-0000-0000"/>
+				<AlternativeType RevisionNo="#x00100064"/>
+				<Name LcId="1033"><![CDATA[EL2202 2Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000FFFF</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x089A3052" RevisionNo="#x00100064">EL2202-0100</Type>
+				<AlternativeType RevisionNo="#x00100000"/>
+				<Name LcId="1033"><![CDATA[EL2202-0100 2Ch. Dig. Output 24V, 0.5A, DC Sync]]></Name>
+				<Name LcId="1031"><![CDATA[EL2202-0100 2K. Dig. Ausgang 24V, 0.5A, DC Sync]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>DC Sync Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000000AFFFF</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08CC3052" RevisionNo="#x00000000">EL2252</Type>
+				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu Sm="2" Su="2">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+					<Index>#x1610</Index>
+					<Name>DC Sync Activate</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x81</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Activate</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Virtual="true">
+					<Index>#x1611</Index>
+					<Name>DC Sync Start</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x90</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>StartTime</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcTimeStamp</Name>
+						<Desc>DC Time Stamp Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000e8030100</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08CC3052" RevisionNo="#x00100000">EL2252</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2252-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
+				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
+					<Index>#x1610</Index>
+					<Name>DC Sync Activate</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x81</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Activate</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+					<Index>#x1611</Index>
+					<Name>DC Sync Start</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x90</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>StartTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>16</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2" Su="2">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2" Su="2">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Su="0" Virtual="true">
+					<Index>#x1a00</Index>
+					<Name>SysTime</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x10</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>SysTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcTimeStamp</Name>
+						<Desc>DC Time Stamp Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000e8030100</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08CC3052" RevisionNo="#x00110000">EL2252</Type>
+				<HideType RevisionNo="#x00100000" ProductRevision="EL2252-0000-0016"/>
+				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
+				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
+					<Index>#x1602</Index>
+					<Name>DC Sync Activate</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x81</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Activate</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+					<Index>#x1603</Index>
+					<Name>DC Sync Start</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x90</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>StartTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1602</Index>
+					<Name>Reserved</Name>
+				</RxPdo>
+				<TxPdo Fixed="1" Su="0" Virtual="true">
+					<Index>#x1a00</Index>
+					<Name>SysTime</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x10</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>SysTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcTimeStamp</Name>
+						<Desc>DC Time Stamp Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000e803FFFF</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08CC3052" RevisionNo="#x00120000">EL2252</Type>
+				<HideType RevisionNo="#x00110000" ProductRevision="EL2252-0000-0011"/>
+				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
+				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
+				<Sm StartAddress="#x1000" Virtual="true">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
+					<Index>#x1602</Index>
+					<Name>DC Sync Activate</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x81</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Activate</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+					<Index>#x1603</Index>
+					<Name>DC Sync Start</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x90</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>StartTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1604</Index>
+					<Name>Reserved</Name>
+				</RxPdo>
+				<TxPdo Fixed="1" Su="0" Virtual="true">
+					<Index>#x1a00</Index>
+					<Name>SysTime</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x10</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>SysTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Su="1" Virtual="true">
+					<Index>#x1a01</Index>
+					<Name>Feedback</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x11</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Feedback</Name>
+						<Comment>Bit 0: Output 1
+Bit 1: Tristate 1
+Bit 2: Output 2
+Bit 3: Tristate 2</Comment>
+						<DataType>USINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcTimeStamp</Name>
+						<Desc>DC Time Stamp Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000e803FFFF</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08D63052" RevisionNo="#x00000000">EL2262</Type>
+				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 0.5A, DC Over Sampling]]></Name>
+				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 0.5A, DC Over Sampling]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Sm StartAddress="#x1000" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Sm="0">
+					<Index>#x1680</Index>
+					<Name>Cycle Counter</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
+					<Index>#x1600</Index>
+					<Name>Sample</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Output</Name>
+						<DataType>BYTE</DataType>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>No oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2</Name>
+						<Desc>2 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="2">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync3</Name>
+						<Desc>3 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="3">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync4</Name>
+						<Desc>4 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="4">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync5</Name>
+						<Desc>5 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="5">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync8</Name>
+						<Desc>8 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="8">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync10</Name>
+						<Desc>10 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="10">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync16</Name>
+						<Desc>16 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="16">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync20</Name>
+						<Desc>20 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="20">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync25</Name>
+						<Desc>25 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-25">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="25">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync50</Name>
+						<Desc>50 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="50">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync100</Name>
+						<Desc>100 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="100">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0601000010000100</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08D63052" RevisionNo="#x00010000">EL2262</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2262-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 0.5A, DC Over Sampling]]></Name>
+				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 0.5A, DC Over Sampling]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu OpOnly="true" Sm="1" Su="1">Outputs</Fmmu>
+				<Sm StartAddress="#x1000" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1200" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su/>
+				<Su/>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1700</Index>
+					<Name>CycCount0</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
+					<Index>#x1600</Index>
+					<Name>Sample0</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output0</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1710</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1711</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1712</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1713</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1714</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1715</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1716</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>7</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1701</Index>
+					<Name>CycCount1</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
+					<Index>#x1680</Index>
+					<Name>Sample1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1718</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1719</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171a</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171b</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171c</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171d</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171e</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>7</BitLen>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>No oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1716</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="1">#x1680</Pdo>
+							<Pdo>#x171e</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2</Name>
+						<Desc>2 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="2">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="2">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync3</Name>
+						<Desc>3 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="3">#x1600</Pdo>
+							<Pdo>#x1714</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="3">#x1680</Pdo>
+							<Pdo>#x171c</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync4</Name>
+						<Desc>4 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="4">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="4">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync5</Name>
+						<Desc>5 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="5">#x1600</Pdo>
+							<Pdo>#x1712</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="5">#x1680</Pdo>
+							<Pdo>#x171a</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync8</Name>
+						<Desc>8 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="8">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="8">#x1680</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync10</Name>
+						<Desc>10 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="10">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="10">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync16</Name>
+						<Desc>16 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="16">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="16">#x1680</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync20</Name>
+						<Desc>20 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="20">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="20">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync25</Name>
+						<Desc>25 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-25">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="25">#x1600</Pdo>
+							<Pdo>#x1716</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="25">#x1680</Pdo>
+							<Pdo>#x171e</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync40</Name>
+						<Desc>40 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="40">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="40">#x1680</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync50</Name>
+						<Desc>50 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="50">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync100_1</Name>
+						<Desc>100 times oversampling (1Ch)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="100">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0601000010000100</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08D63052" RevisionNo="#x00020000" TcSmClass="EL226X">EL2262</Type>
+				<HideType RevisionNo="#x00010000" ProductRevision="EL2262-0001-0000"/>
+				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 1µs, DC Oversample]]></Name>
+				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 1µs, DC Oversample]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>070</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu OpOnly="true" Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu OpOnly="false" Sm="2" Su="0">Inputs</Fmmu>
+				<Sm StartAddress="#x1000" ControlByte="#x64" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1200" ControlByte="#x64" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0998" Virtual="true">Inputs</Sm>
+				<Su/>
+				<Su/>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1700</Index>
+					<Name>CycCount0</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter0</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="128" OSIndexInc="8">
+					<Index>#x1600</Index>
+					<Name>Sample0</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output0</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
+					<Index>#x1800</Index>
+					<Name>Sample0</Name>
+					<Entry>
+						<Index>#x7200</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Output0</Name>
+						<DataType>BYTE</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1710</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1711</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1712</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1713</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1714</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1715</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1716</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>7</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1701</Index>
+					<Name>CycCount1</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter1</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="128" OSIndexInc="8">
+					<Index>#x1680</Index>
+					<Name>Sample1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
+					<Index>#x1880</Index>
+					<Name>Sample1</Name>
+					<Entry>
+						<Index>#x7200</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Output1</Name>
+						<DataType>BYTE</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1718</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1719</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171a</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171b</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171c</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171d</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171e</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>7</BitLen>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="2" Virtual="true" Su="0">
+					<Index>#x1702</Index>
+					<Name>StartTimeNextOutput</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x98</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>StartTimeNextOutput</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>2 Channels - No oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1716</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="1">#x1680</Pdo>
+							<Pdo>#x171e</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2</Name>
+						<Desc>2 Ch. - 2 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="2">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="2">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync3</Name>
+						<Desc>2 Ch. - 3 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="3">#x1600</Pdo>
+							<Pdo>#x1714</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="3">#x1680</Pdo>
+							<Pdo>#x171c</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync4</Name>
+						<Desc>2 Ch. - 4 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="4">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="4">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync5</Name>
+						<Desc>2 Ch. - 5 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="5">#x1600</Pdo>
+							<Pdo>#x1712</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="5">#x1680</Pdo>
+							<Pdo>#x171a</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync8</Name>
+						<Desc>2 Ch. - 8 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="8">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="8">#x1680</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync10</Name>
+						<Desc>2 Ch. - 10 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="10">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="10">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync16</Name>
+						<Desc>2 Ch. - 16 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="16">#x1600</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="16">#x1680</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync20</Name>
+						<Desc>2 Ch. - 20 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="20">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="20">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync40</Name>
+						<Desc>2 Ch. - 40 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="40">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="40">#x1680</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync50</Name>
+						<Desc>2 Ch. - 50 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="50">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync100</Name>
+						<Desc>2 Ch. - 100 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="100">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="100">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync200</Name>
+						<Desc>2 Ch. - 200 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="25">#x1800</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="25">#x1880</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync400</Name>
+						<Desc>2 Ch. - 400 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1800</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="50">#x1880</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync1000</Name>
+						<Desc>2 Ch. - 1000 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="125">#x1800</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="125">#x1880</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync_1</Name>
+						<Desc>Channel 1 - No oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1716</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2_1</Name>
+						<Desc>1 Ch. - 2 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="2">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync3_1</Name>
+						<Desc>1 Ch. - 3 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="3">#x1600</Pdo>
+							<Pdo>#x1714</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync4_1</Name>
+						<Desc>1 Ch. - 4 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="4">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync5_1</Name>
+						<Desc>1 Ch. - 5 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="5">#x1600</Pdo>
+							<Pdo>#x1712</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync8_1</Name>
+						<Desc>1 Ch. - 8 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="8">#x1600</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync10_1</Name>
+						<Desc>1 Ch. - 10 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="10">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync16_1</Name>
+						<Desc>1 Ch. - 16 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="16">#x1600</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync20_1</Name>
+						<Desc>1 Ch. - 20 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="20">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync40_1</Name>
+						<Desc>1 Ch. - 40 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="40">#x1600</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync50_1</Name>
+						<Desc>1 Ch. - 50 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync100_1</Name>
+						<Desc>1 Ch. - 100 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="100">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync200_1</Name>
+						<Desc>1 Ch. - 200 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="25">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync400_1</Name>
+						<Desc>1 Ch. - 400 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync1000_1</Name>
+						<Desc>1 Ch. - 1000 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="125">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>2 Channels (Bits)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1710</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1b02</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="1">#x1680</Pdo>
+							<Pdo>#x1718</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT UseFromBuildNo="1506">
+								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+							</TwinCAT>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2</Name>
+						<Desc>2 Channels (Bytes)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1b02</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="1">#x1880</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT UseFromBuildNo="1506">
+								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+							</TwinCAT>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync_1</Name>
+						<Desc>1 Channel (Bits)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1710</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1b02</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT UseFromBuildNo="1506">
+								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+							</TwinCAT>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2_1</Name>
+						<Desc>1 Channel (Bytes)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1b02</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT UseFromBuildNo="1506">
+								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+							</TwinCAT>
+						</VendorSpecific>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0605000010000100</ConfigData>
+					<Category>
+						<CatNo>1</CatNo>
+						<Data>D60806020602</Data>
+					</Category>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09c63052" RevisionNo="#x100000">EL2502</Type>
+				<Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned resentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Frequency</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>120</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>72</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>88</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM [µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>104</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>00001000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>RxPDO-Map Ch.2</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</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>
+									<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>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c32</Index>
+								<Name>SM output parameter</Name>
+								<Type>DT1C32</Type>
+								<BitSize>280</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync mode</Name>
+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes 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>Command</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PWM Outputs Ch.1</Name>
+								<Type>DT7000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x800e</Index>
+								<Name>PWM Internal data Ch.1</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801e</Index>
+								<Name>PWM Internal data Ch.2</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1" Watchdog="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030800000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09c63052" RevisionNo="#x110000">EL2502</Type>
+				<HideType RevisionNo="#x00100000" ProductRevision="EL2502-0000-0016"/>
+				<Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned resentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Frequency</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>16</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>PWM period</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>120</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>72</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>88</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM [µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>104</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>00001100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-ParCh.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>RxPDO-ParCh.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>RxPDO-PaCh.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1403</Index>
+								<Name>RxPDO-PaCh.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>RxPDO-Map Ch.2</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>RxPDO-MapCh.1</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10120070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1603</Index>
+								<Name>RxPDO-MapCh.2</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10121070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</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>
+									<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>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>TxPDO assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>0</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c32</Index>
+								<Name>SM output parameter</Name>
+								<Type>DT1C32</Type>
+								<BitSize>280</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>20</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync mode</Name>
+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>07c0</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>Command</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PWM Outputs Ch.1</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x800e</Index>
+								<Name>PWM Internal data Ch.1</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801e</Index>
+								<Name>PWM Internal data Ch.2</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
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+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
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+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
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+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1602</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030400000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09c63052" RevisionNo="#x00120000">EL2502</Type>
+				<HideType ProductRevision="EL2502-0000-0017" RevisionNo="#x00110000"/>
+				<Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
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+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
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+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned resentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Frequency</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
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+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
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+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>16</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>PWM period</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>120</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>72</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>88</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM [µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>104</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
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+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801e</Index>
+								<Name>PWM Internal data Ch.2</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MaxSize="128" MinSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MaxSize="128" MinSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="0">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1602</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE PdoAssign="1" SdoInfo="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030400000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9c63052" RevisionNo="#x00130000">EL2502</Type>
+				<HideType RevisionNo="#x00110000"/>
+				<HideType RevisionNo="#x00120000"/>
+				<Name LcId="1033">EL2502 2Ch. PWM output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>3</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned resentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM 20Hz...20kHz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Reserved.</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>PWM 100ns frq. res.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>PWM 1Hz...20kHz</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
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+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
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+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
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+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+							<DataType>
+								<Name>DT1400</Name>
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+									<Name>SubIndex 000</Name>
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+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+										<Access>rw</Access>
+										<Category>o</Category>
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+									<BitSize>0</BitSize>
+									<BitOffs>16</BitOffs>
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+										<Access>rw</Access>
+										<Category>o</Category>
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+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
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+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>PWM period</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>160</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM 20Hz..20kHz[µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Period PWM 1Hz..20kHz [µs]</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>00001300</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>PWM RxPDO-Par Ch.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PWM RxPDO-Par Ch.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0316</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>PWM RxPDO-Par h.1 Ch.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1403</Index>
+								<Name>PWM RxPDO-Par h.1 Ch.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>PWM RxPDO-Map Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
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+							<Object>
+								<Index>#x1601</Index>
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+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
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+									<SubItem>
+										<Name>SubIndex 000</Name>
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+											<DefaultData>01</DefaultData>
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+								<Flags>
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+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>PWM RxPDO-Map h.1 Ch.1</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+							</Object>
+							<Object>
+								<Index>#x1603</Index>
+								<Name>PWM RxPDO-Map h.1 Ch.2</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+											<DefaultData>02</DefaultData>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync manager type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+											<DefaultData>04</DefaultData>
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+											<DefaultData>01</DefaultData>
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+											<DefaultData>02</DefaultData>
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+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
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+										<Info>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>RxPDO assign</Name>
+								<Type>DT1C12</Type>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+											<DefaultData>02</DefaultData>
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+											<DefaultData>0016</DefaultData>
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+											<DefaultData>0116</DefaultData>
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+								<Flags>
+									<Access>rw</Access>
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+							<Object>
+								<Index>#x1c13</Index>
+								<Name>TxPDO assign</Name>
+								<Type>DT1C13</Type>
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+								<Info>
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+									<Access>rw</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x1c32</Index>
+								<Name>SM output parameter</Name>
+								<Type>DT1C32</Type>
+								<BitSize>344</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>20</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Sync mode</Name>
+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>07c0</DefaultData>
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+									</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>Minimum delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Command</Name>
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+											<DefaultData>0000</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Maximum delay time</Name>
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+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
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+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PWM Outputs Ch.1</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
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+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+											<DefaultData>12</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>160</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
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+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
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+									<SubItem>
+										<Name>Offset</Name>
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+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
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+									<SubItem>
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+											<DefaultData>0000</DefaultData>
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+									<SubItem>
+										<Name>Default output ramp</Name>
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+									<SubItem>
+										<Name>Period PWM 20Hz..20kHz[µs]</Name>
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+											<DefaultData>a00f</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 1Hz..20kHz [µs]</Name>
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+											<MinValue>#x0</MinValue>
+											<MaxValue>#xf4240</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
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+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x800e</Index>
+								<Name>PWM Internal data Ch.1</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>160</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
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+									<SubItem>
+										<Name>Enable user scale</Name>
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+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 20Hz..20kHz[µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 1Hz..20kHz [µs]</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#xf4240</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
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+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x801e</Index>
+								<Name>PWM Internal data Ch.2</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
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+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
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+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
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+									<SubItem>
+										<Name>SubIndex 000</Name>
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+											<DefaultData>fa000000</DefaultData>
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+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
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+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x0" Enable="0">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1602</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030000000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9c63052" RevisionNo="#x00140000">EL2502</Type>
+				<HideType RevisionNo="#x00110000"/>
+				<HideType RevisionNo="#x00120000"/>
+				<HideType RevisionNo="#x00130000"/>
+				<Name LcId="1033">EL2502 2Ch. PWM output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Pulswith (standard)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Pulswith and frequency (16 bit)</Name>
+								<Sm No="2">
+									<Pdo>#x1602</Pdo>
+									<Pdo>#x1603</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>3</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned Presentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM 20Hz...20kHz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Reserved.</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>PWM 100ns frq. res.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>PWM 1Hz...20kHz</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>0</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>0</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>16</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>0</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>PWM period</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>160</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM 20Hz..20kHz[µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Period PWM 1Hz..20kHz [µs]</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>00001300</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>PWM RxPDO-Par Ch.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PWM RxPDO-Par Ch.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0316</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>PWM RxPDO-Par h.1 Ch.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1403</Index>
+								<Name>PWM RxPDO-Par h.1 Ch.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>PWM RxPDO-Map Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PWM RxPDO-Map Ch.2</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>PWM RxPDO-Map h.1 Ch.1</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10120070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1603</Index>
+								<Name>PWM RxPDO-Map h.1 Ch.2</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10121070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</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>
+									<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>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>TxPDO assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>8</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
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+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c32</Index>
+								<Name>SM output parameter</Name>
+								<Type>DT1C32</Type>
+								<BitSize>344</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>20</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync mode</Name>
+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>07c0</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>Minimum delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Command</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PWM Outputs Ch.1</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>160</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 20Hz..20kHz[µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 1Hz..20kHz [µs]</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#xf4240</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x800e</Index>
+								<Name>PWM Internal data Ch.1</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>160</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 20Hz..20kHz[µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 1Hz..20kHz [µs]</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#xf4240</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801e</Index>
+								<Name>PWM Internal data Ch.2</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
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+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
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+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x0" Enable="0">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1602</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030000000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x00000000">EL2521</Type>
+				<Name LcId="1033"><![CDATA[EL2521 1Ch. Pulse Train Output]]></Name>
+				<Name LcId="1031"><![CDATA[EL2521 1K. Pulse Train Ausgang]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>252</AddInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(16)</Name>
+								<BitSize>128</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0029</Name>
+								<BitSize>16</BitSize>
+								<EnumInfo>
+									<Text>Free Run</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Synchron</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>SYNC0 Event</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0800</Name>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801</Name>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</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>
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+								</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 Number</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>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>RxPDO Mapping Element 1: Ctrl</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>RxPDO Mapping Element 2: Data Out</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>TxPDO Mapping Element 1: Status</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>TxPDO Mapping Element 2: Data In</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</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>No of Elements</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>
+								<Name>DT1C12</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<MinValue>0</MinValue>
+									<MaxValue>1</MaxValue>
+									<DefaultValue>1</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Assigned RxPDO</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x1600</MinValue>
+									<MaxValue>#x1600</MaxValue>
+									<DefaultValue>#x1600</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<MinValue>0</MinValue>
+									<MaxValue>1</MaxValue>
+									<DefaultValue>1</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Assigned TxPDO</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x1600</MinValue>
+									<MaxValue>#x1600</MaxValue>
+									<DefaultValue>#x1600</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<MinValue>#x64</MinValue>
+									<MaxValue>#x0007a120</MaxValue>
+									<DefaultValue>50000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<MinValue>#x64</MinValue>
+									<MaxValue>#x0007a120</MaxValue>
+									<DefaultValue>100000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<MinValue>#x01</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>100</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#x7fff</MaxValue>
+									<DefaultValue>50</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffffffff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#x7fff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF000ARR</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device Type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device Name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware Version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software Version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Load Default Settings</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>010000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<DefaultData>0400020000005230d9090000000000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>Outputs</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<DefaultData>02001001007010020070</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1a00</Index>
+								<Name>Inputs</Name>
+								<Type>DT1A00</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<DefaultData>02001001006010020060</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync Manager Type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>040001020304</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c01</Index>
+								<Name>Process Data Format</Name>
+								<Type>UINT</Type>
+								<BitSize>16</BitSize>
+								<Info>
+									<DefaultData>0001</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>SM 002 RxPDO Assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000016</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>SM 003 TxPDO Assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000016</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6000</Index>
+								<Name>Inputs</Name>
+								<Type>DT6000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>020000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>020000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>0f003000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<DefaultData>0800000050c30000a0860100e803e80364003200e803</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile Settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<DefaultData>0200000000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic Parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Profile Settings</Name>
+								<Type>DTF000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>02001001</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code Word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox>
+					<CoE SdoInfo="1" PdoAssign="0" PdoConfig="0"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003080000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F80000">EL2521</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2521-0000-0000"/>
+				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping>
+								<Name>Legacy (MDP 252)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1604</Pdo>
+									<Pdo>#x1602</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1607</Pdo>
+									<Pdo>#x1605</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a05</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353231</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>0000f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01011070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01021070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>01031070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 006</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>ENC RxPDO-Map Control compact</Name>
+								<Type>DT1602</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>05</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01032070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>10112070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
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+									<SubItem>
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+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x6000</Index>
+								<Name>Inputs</Name>
+								<Type>DT6000</Type>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Data In</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6010</Index>
+								<Name>PTO Inputs</Name>
+								<Type>DT6010</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>10</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sel. Ack/End counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input target</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input zero</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Error</Name>
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+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6020</Index>
+								<Name>ENC Inputs</Name>
+								<Type>DT6020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter done</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter underflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter overflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Ctrl</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Data Out</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency select</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Disable ramp</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Go counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>0f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
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+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F90000">EL2521</Type>
+				<HideType RevisionNo="#x3F80000"/>
+				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping>
+								<Name>Legacy (MDP 252)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1604</Pdo>
+									<Pdo>#x1602</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1607</Pdo>
+									<Pdo>#x1605</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a05</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353231</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>0000f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
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+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x03FA0000">EL2521</Type>
+				<HideType RevisionNo="#x00000000"/>
+				<HideType RevisionNo="#x03F80000"/>
+				<HideType RevisionNo="#x03F90000"/>
+				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping>
+								<Name>Legacy (MDP 252)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1604</Pdo>
+									<Pdo>#x1602</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1607</Pdo>
+									<Pdo>#x1605</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a05</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
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+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9d93052" RevisionNo="#x03fb0000">EL2521</Type>
+				<HideType RevisionNo="#x0"/>
+				<HideType RevisionNo="#x3f80000"/>
+				<HideType RevisionNo="#x3f90000"/>
+				<HideType RevisionNo="#x3fa0000"/>
+				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping>
+								<Name>Legacy (MDP 252)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1602</Pdo>
+									<Pdo>#x1604</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1605</Pdo>
+									<Pdo>#x1607</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a05</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353231</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>0000fb03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
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+									<SubItem>
+										<Name>SubIndex 002</Name>
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+											<DefaultData>10020070</DefaultData>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
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+										<Name>SubIndex 001</Name>
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+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
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+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
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+									<SubItem>
+										<Name>SubIndex 005</Name>
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+											<DefaultData>08000000</DefaultData>
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+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>ENC RxPDO-Map Control compact</Name>
+								<Type>DT1602</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+									<Category>o</Category>
+								</Flags>
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+							<Object>
+								<Index>#x1604</Index>
+								<Name>PTO RxPDO-Map Target compact</Name>
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+							<Object>
+								<Index>#x1605</Index>
+								<Name>ENC RxPDO-Map Control</Name>
+								<Type>DT1602</Type>
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+								<Info>
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+										<Name>SubIndex 000</Name>
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+									<SubItem>
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+								<Name>PTO RxPDO-Map Target</Name>
+								<Type>DT1604</Type>
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+									<SubItem>
+										<Name>SubIndex 000</Name>
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+										<Name>Sel. Ack/End counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input target</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input zero</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6020</Index>
+								<Name>ENC Inputs</Name>
+								<Type>DT6020</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter done</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter underflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter overflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ctrl</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Data Out</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency select</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Disable ramp</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Go counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>0f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F80018">EL2521-0024</Type>
+				<Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
+				<Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303234</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>1800f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
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+							<Object>
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+							<Object>
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+								<Info>
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+							<Object>
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+								<Info>
+									<SubItem>
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+									<SubItem>
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+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
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+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
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+									</SubItem>
+									<SubItem>
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+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
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+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F90018">EL2521-0024</Type>
+				<HideType RevisionNo="#x3F80018"/>
+				<Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
+				<Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303234</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>1800f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9d93052" RevisionNo="#x03fa0018">EL2521-0024</Type>
+				<HideType RevisionNo="#x3f80018"/>
+				<HideType RevisionNo="#x3f90018"/>
+				<Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
+				<Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping>
+								<Name>Legacy (MDP 252)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1602</Pdo>
+									<Pdo>#x1604</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1605</Pdo>
+									<Pdo>#x1607</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a05</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
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+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>0f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F80019">EL2521-0025</Type>
+				<Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
+				<Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303235</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>1900f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
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+											<DefaultData>10020070</DefaultData>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
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+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>01031070</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
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+											<DefaultData>08000000</DefaultData>
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+										<Name>SubIndex 006</Name>
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+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>ENC RxPDO-Map Control compact</Name>
+								<Type>DT1602</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+									<SubItem>
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+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1604</Index>
+								<Name>PTO RxPDO-Map Target compact</Name>
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+								</Flags>
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+							<Object>
+								<Index>#x1605</Index>
+								<Name>ENC RxPDO-Map Control</Name>
+								<Type>DT1602</Type>
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+								<Info>
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+										<Name>SubIndex 000</Name>
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+									<SubItem>
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+								<Index>#x1607</Index>
+								<Name>PTO RxPDO-Map Target</Name>
+								<Type>DT1604</Type>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+									<SubItem>
+										<Name>Status of input target</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input zero</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6020</Index>
+								<Name>ENC Inputs</Name>
+								<Type>DT6020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter done</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter underflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter overflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ctrl</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Data Out</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency select</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Disable ramp</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Go counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>0f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F90019">EL2521-0025</Type>
+				<HideType RevisionNo="#x3F80019"/>
+				<Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
+				<Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303235</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>1900f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01011070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01021070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>01031070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
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+							<Object>
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+							<Object>
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+								<Info>
+									<SubItem>
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+										<Info>
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+									</SubItem>
+									<SubItem>
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+										<Info>
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+									</SubItem>
+									<SubItem>
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+									</SubItem>
+									<SubItem>
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+										<Info>
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+									</SubItem>
+									<SubItem>
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+										<Info>
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+									</SubItem>
+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+										</Info>
+									</SubItem>
+									<SubItem>
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+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
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+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
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+										</Info>
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+									<SubItem>
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+										<Info>
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+									<SubItem>
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+										<Name>Sync modes supported</Name>
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+										<Name>Calc and copy time</Name>
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+									<SubItem>
+										<Name>SM event missed counter</Name>
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+										</Info>
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+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
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+										<Name>Shift too short counter</Name>
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+											<DefaultValue>100</DefaultValue>
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+										</Info>
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+										</Info>
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+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9d93052" RevisionNo="#x3fa0019">EL2521-0025</Type>
+				<HideType RevisionNo="#x3f80019"/>
+				<HideType RevisionNo="#x3f90019"/>
+				<Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
+				<Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping>
+								<Name>Legacy (MDP 252)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1602</Pdo>
+									<Pdo>#x1604</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1605</Pdo>
+									<Pdo>#x1607</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a05</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
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+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
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+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
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+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
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+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
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+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
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+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+								</SubItem>
+								<SubItem>
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+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
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+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
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+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+									<BitOffs>0</BitOffs>
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+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
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+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
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+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
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+								<SubItem>
+									<SubIdx>0</SubIdx>
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+									<Type>USINT</Type>
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+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
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+									<Type>UDINT</Type>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+									<Type>UDINT</Type>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+								<SubItem>
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+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
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+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+								</SubItem>
+								<SubItem>
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+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
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+									<BitOffs>176</BitOffs>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
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+									<BitOffs>208</BitOffs>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
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+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
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+									<BitOffs>272</BitOffs>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
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+									<BitOffs>304</BitOffs>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
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+									<Elements>4</Elements>
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+							<DataType>
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+								<SubItem>
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+									<Type>USINT</Type>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+								<SubItem>
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+									<Type>DT1C00ARR</Type>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+								</SubItem>
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+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
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+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
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+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
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+										<Access>rw</Access>
+										<Category>o</Category>
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+								<SubItem>
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+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
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+								</SubItem>
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+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
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+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
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+							<DataType>
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+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+										<Access>rw</Access>
+										<Category>o</Category>
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+								<SubItem>
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+										<Access>rw</Access>
+										<Category>o</Category>
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+								</SubItem>
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+							<DataType>
+								<Name>DT1C32</Name>
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+								<SubItem>
+									<SubIdx>0</SubIdx>
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+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
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+										<Access>rw</Access>
+										<Category>o</Category>
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+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303235</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>1900fa03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
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+									</SubItem>
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+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x0010007c">EL2521-0124</Type>
+				<Name LcId="1033">EL2521-0124 1Ch. Pulse Train 24V DC Output Capture/Compare</Name>
+				<Name LcId="1031">EL2521-0124 1K. Pulse Train 24V DC Ausgang Capture/Compare</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>512</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1401</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>240</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
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+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1603</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>40</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
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+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+								</SubItem>
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+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+									<Type>UDINT</Type>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+									<Type>UDINT</Type>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+								<SubItem>
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+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
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+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
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+							<DataType>
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+								<SubItem>
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+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
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+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SubIndex 011</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>SubIndex 012</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>368</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>SubIndex 013</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>400</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Latch extern valid</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Status of extern latch</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Latch value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>PLS Enabled</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Status of output</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Enable latch extern on positive edge</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Enable latch extern on negative edge</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable PLS</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Output</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Switch on value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Switch off value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Output set active low</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30313234</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>7c001000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1401</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>041605160616</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>PLS RxPDO-Par Control compact</Name>
+								<Type>DT1401</Type>
+								<BitSize>64</BitSize>
+								<Info>
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+										<Info>
+											<DefaultData>00</DefaultData>
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+									<SubItem>
+										<Name>Output set active low</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
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+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
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+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
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+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
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+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
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+										<Name>SubIndex 001</Name>
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+											<DefaultData>fd000000</DefaultData>
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+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
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+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>00020000</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="14" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="10" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PTO Control</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
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+					<Entry>
+						<Index>#x0</Index>
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+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1606</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1602</Index>
+					<Name>PLS Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
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+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>PLS Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PTO Status</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a01</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a04</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
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+					<Entry>
+						<Index>#x0</Index>
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+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
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+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a04</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a01</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
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+						<BitLen>1</BitLen>
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+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
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+						<Index>#x0</Index>
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+					<Entry>
+						<Index>#x6010</Index>
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+						<BitLen>1</BitLen>
+						<Name>Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
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+					<Entry>
+						<Index>#x0</Index>
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+					<Entry>
+						<Index>#x6010</Index>
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+						<Name>Counter value</Name>
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+					<Entry>
+						<Index>#x6010</Index>
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+						<Name>Latch value</Name>
+						<DataType>UDINT</DataType>
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+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PLS Status</Name>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>PLS Enabled</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DCIN</Name>
+						<Desc>DC-Synchron (input based)</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x0011007c">EL2521-0124</Type>
+				<HideType RevisionNo="#x0010007c"/>
+				<Name LcId="1033">EL2521-0124 1Ch. Pulse Train 24V DC Output Capture/Compare</Name>
+				<Name LcId="1031">EL2521-0124 1K. Pulse Train 24V DC Ausgang Capture/Compare</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>512</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1401</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>240</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1603</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>40</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>432</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SubIndex 011</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>SubIndex 012</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>368</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>SubIndex 013</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>400</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Latch extern valid</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Status of extern latch</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Latch value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>PLS Enabled</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Status of output</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Enable latch extern on positive edge</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Enable latch extern on negative edge</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable PLS</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Output</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Switch on value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Switch off value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Output set active low</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30313234</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>7c001000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8000</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Output set active low</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>00020000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="14" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="10" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PTO Control</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1606</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1602</Index>
+					<Name>PLS Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>PLS Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PTO Status</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a01</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a04</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a04</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a01</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1804</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PLS Status</Name>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>PLS Enabled</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DCIN</Name>
+						<Desc>DC-Synchron (input based)</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9d93052" RevisionNo="#x0012007c">EL2521-0124</Type>
+				<HideType RevisionNo="#x0010007c"/>
+				<HideType RevisionNo="#x0011007c"/>
+				<Name LcId="1033">EL2521-0124 1Ch. Pulse Train 24V DC Output Capture/Compare</Name>
+				<Name LcId="1031">EL2521-0124 1K. Pulse Train 24V DC Ausgang Capture/Compare</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511/512)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1602</Pdo>
+									<Pdo>#x1603</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511/512)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1604</Pdo>
+									<Pdo>#x1605</Pdo>
+									<Pdo>#x1606</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a02</Pdo>
+									<Pdo>#x1a04</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>512</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1401</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>240</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1603</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>40</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>432</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SubIndex 011</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>SubIndex 012</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>368</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>SubIndex 013</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>400</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Latch extern valid</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Status of extern latch</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Latch value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>PLS Enabled</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Status of output</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Enable latch extern on positive edge</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Enable latch extern on negative edge</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable PLS</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Output</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Switch on value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Switch off value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Output set active low</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
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+								<Type>DT7000</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency select</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Disable ramp</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Go counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable latch extern on positive edge</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable latch extern on negative edge</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>PLS Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
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+									<SubItem>
+										<Name>Enable PLS</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
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+									<SubItem>
+										<Name>Output</Name>
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+											<DefaultData>00</DefaultData>
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+										<Name>Switch on value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+									<SubItem>
+										<Name>Switch off value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8000</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Output set active low</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>00020000</DefaultData>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="14" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="10" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PTO Control</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1606</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1602</Index>
+					<Name>PLS Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Output</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UINT</DataType>
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+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>PLS Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Output</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PTO Status</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Status__</Name>
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+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
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+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a01</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a04</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a04</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a01</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1804</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PLS Status</Name>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__PLS Enabled</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DCIN</Name>
+						<Desc>DC-Synchron (input based)</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09D93052" RevisionNo="#x000003E9">EL2521-1001</Type>
+				<Name LcId="1033"><![CDATA[EL2521-1001 1Ch. Pulse Train Output]]></Name>
+				<Name LcId="1031"><![CDATA[EL2521-1001 1K. Pulse Train Ausgang]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm DefaultSize="54" StartAddress="6144" ControlByte="38" Enable="1">MBoxOut</Sm>
+				<Sm DefaultSize="54" StartAddress="6272" ControlByte="34" Enable="1">MBoxIn</Sm>
+				<Sm StartAddress="4096" ControlByte="36" Enable="1">Outputs</Sm>
+				<Sm StartAddress="4352" ControlByte="32" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Status</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Status</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox>
+					<CoE SdoInfo="1" PdoAssign="1" PdoConfig="0"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003000000</ConfigData>
+					<BootStrap>0018f400f418f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x000103e9">EL2521-1001</Type>
+				<HideType RevisionNo="#x000003E9" ProductRevision="EL2521-1001-0000	"/>
+				<Name LcId="1033"><![CDATA[EL2521-1001 1Ch. Pulse Train Output]]></Name>
+				<Name LcId="1031"><![CDATA[EL2521-1001 1K. Pulse Train Ausgang]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>252</AddInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(16)</Name>
+								<BitSize>128</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0029</Name>
+								<BitSize>16</BitSize>
+								<EnumInfo>
+									<Text>Free Run</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Synchron</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>SYNC0 Event</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0800</Name>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801</Name>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</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 Number</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>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>RxPDO Mapping Element 1: Ctrl</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>RxPDO Mapping Element 2: Data Out</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>TxPDO Mapping Element 1: Status</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>TxPDO Mapping Element 2: Data In</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</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>No of Elements</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>
+								<Name>DT1C12</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<MinValue>0</MinValue>
+									<MaxValue>1</MaxValue>
+									<DefaultValue>1</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Assigned RxPDO</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x1600</MinValue>
+									<MaxValue>#x1600</MaxValue>
+									<DefaultValue>#x1600</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<MinValue>0</MinValue>
+									<MaxValue>1</MaxValue>
+									<DefaultValue>1</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Assigned TxPDO</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x1600</MinValue>
+									<MaxValue>#x1600</MaxValue>
+									<DefaultValue>#x1600</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<MinValue>#x64</MinValue>
+									<MaxValue>#x0007a120</MaxValue>
+									<DefaultValue>50000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<MinValue>#x64</MinValue>
+									<MaxValue>#x0007a120</MaxValue>
+									<DefaultValue>100000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<MinValue>#x01</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>100</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#x7fff</MaxValue>
+									<DefaultValue>50</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffffffff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#x7fff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
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+								<Name>DTF000ARR</Name>
+								<BaseType>USINT</BaseType>
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+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
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+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>24</BitSize>
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+									<SubIdx>0</SubIdx>
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+									<Type>USINT</Type>
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+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF000ARR</Type>
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+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device Type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device Name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323532312d31303031</DefaultData>
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+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware Version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software Version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Load Default Settings</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>010000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<DefaultData>0400020000005230d909e903010000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>Outputs</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<DefaultData>02001001007010020070</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1a00</Index>
+								<Name>Inputs</Name>
+								<Type>DT1A00</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<DefaultData>02001001006010020060</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync Manager Type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>040001020304</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c01</Index>
+								<Name>Process Data Format</Name>
+								<Type>UINT</Type>
+								<BitSize>16</BitSize>
+								<Info>
+									<DefaultData>0001</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>SM 002 RxPDO Assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000016</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>SM 003 TxPDO Assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000016</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6000</Index>
+								<Name>Inputs</Name>
+								<Type>DT6000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>020000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>020000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>0f003000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<DefaultData>0800000050c30000a0860100e803e80364003200e803</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile Settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<DefaultData>0200000000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic Parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Profile Settings</Name>
+								<Type>DTF000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>02001001</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code Word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox>
+					<CoE SdoInfo="1" PdoAssign="0" PdoConfig="0"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003080000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x03F803E9">EL2521-1001</Type>
+				<HideType RevisionNo="#x000003E9" ProductRevision="EL2521-1001-0000	"/>
+				<HideType RevisionNo="#x000103E9" ProductRevision="EL2521-1001-0001	"/>
+				<Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
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+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353231</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>e903f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
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+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
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+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
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+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
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+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+											<DefaultData>02</DefaultData>
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+									<Category>o</Category>
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+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
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+								<Info>
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+										<Name>SubIndex 000</Name>
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+									<Category>o</Category>
+								</Flags>
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+							<Object>
+								<Index>#x1602</Index>
+								<Name>ENC RxPDO-Map Control compact</Name>
+								<Type>DT1602</Type>
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+								<Index>#x1604</Index>
+								<Name>PTO RxPDO-Map Target compact</Name>
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+								<Name>ENC RxPDO-Map Control</Name>
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+								<Name>PTO RxPDO-Map Target</Name>
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+							<Object>
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+								<Name>TxPDO-Par</Name>
+								<Type>DT1800</Type>
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+								<Info>
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+									<SubItem>
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+								<Name>PTO TxPDO-Par Status</Name>
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+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ctrl</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Data Out</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency select</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Disable ramp</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Go counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>0f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x03F903E9">EL2521-1001</Type>
+				<HideType RevisionNo="#x000003E9"/>
+				<HideType RevisionNo="#x000103E9"/>
+				<HideType RevisionNo="#x03F803E9"/>
+				<Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353231</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>e903f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01011070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01021070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>01031070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 006</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>ENC RxPDO-Map Control compact</Name>
+								<Type>DT1602</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>05</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01032070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>10112070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1604</Index>
+								<Name>PTO RxPDO-Map Target compact</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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+										<Info>
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+									</SubItem>
+									<SubItem>
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+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									</SubItem>
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+								<Flags>
+									<Access>ro</Access>
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+							</Object>
+							<Object>
+								<Index>#x6000</Index>
+								<Name>Inputs</Name>
+								<Type>DT6000</Type>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Status</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Data In</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6010</Index>
+								<Name>PTO Inputs</Name>
+								<Type>DT6010</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>10</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sel. Ack/End counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input target</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input zero</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Error</Name>
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+											<DefaultData>00</DefaultData>
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+									</SubItem>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6020</Index>
+								<Name>ENC Inputs</Name>
+								<Type>DT6020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Set counter done</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter underflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter overflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
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+							</Object>
+							<Object>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Ctrl</Name>
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+									<SubItem>
+										<Name>Data Out</Name>
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+											<DefaultData>0000</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							<Object>
+								<Index>#x7010</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Frequency select</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Disable ramp</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Go counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
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+								<Name>ENC Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>0f</DefaultData>
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+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									<SubItem>
+										<Name>Negative logic</Name>
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+											<DefaultData>00</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
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+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+											<DefaultData>18</DefaultData>
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+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
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+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
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+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									<SubItem>
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+										<Info>
+											<DefaultData>00</DefaultData>
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+										<Info>
+											<DefaultData>00</DefaultData>
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+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
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+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
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+									</SubItem>
+									<SubItem>
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+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
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+										<Info>
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+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
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+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
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+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
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+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
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+										<Info>
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+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+								<Index>#x8800</Index>
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+									<SubItem>
+										<Name>SubIndex 000</Name>
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+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
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+									<SubItem>
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+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+								<Info>
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+									<Category>o</Category>
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+								<Info>
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+										<Name>SubIndex 000</Name>
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+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+								<Name>Code word</Name>
+								<Type>UDINT</Type>
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+								<Info>
+									<DefaultData>00000000</DefaultData>
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+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+									<Access>rw</Access>
+									<Category>o</Category>
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+						</Objects>
+					</Dictionary>
+				</Profile>
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+				<Fmmu>Inputs</Fmmu>
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+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9d93052" RevisionNo="#x3fa03e9">EL2521-1001</Type>
+				<HideType RevisionNo="#x00003e9"/>
+				<HideType RevisionNo="#x000103e9"/>
+				<HideType RevisionNo="#x3f803e9"/>
+				<HideType RevisionNo="#x3f903e9"/>
+				<Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping>
+								<Name>Legacy (MDP 252)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1602</Pdo>
+									<Pdo>#x1604</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1605</Pdo>
+									<Pdo>#x1607</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a05</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323532312d31303031</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>e903fa03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
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+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
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+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
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+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
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+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
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+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
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+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
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+						<Index>#x7020</Index>
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+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
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+						<Index>#x6000</Index>
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+					<Entry>
+						<Index>#x6000</Index>
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+						<DataType>UINT</DataType>
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+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
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+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
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+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
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+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x0</Index>
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+						<Index>#x6010</Index>
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+						<Name>Status__Status of input target</Name>
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+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
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+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
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+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
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+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
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+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
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+						<Index>#x1802</Index>
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+						<DataType>BOOL</DataType>
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+						<Index>#x6020</Index>
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+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
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+						<Index>#x0</Index>
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+						<Index>#x6020</Index>
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+						<Index>#x6020</Index>
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+						<DataType>BOOL</DataType>
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+						<Index>#x0</Index>
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+						<DataType>BOOL</DataType>
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+						<Index>#x6020</Index>
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+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
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+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
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+						<Name>DC</Name>
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+						<AssignActivate>#x300</AssignActivate>
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+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9e73052" RevisionNo="#x00100000">EL2535</Type>
+				<Name LcId="1033">EL2535 2Ch. Pulse Width Current Output (24V, 1 A)</Name>
+				<Name LcId="1031">EL2535 2K. Pulsweiten Strom Ausgang (24V, 1 A)</Name>
+				<URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
+				<URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
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+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Extended info data</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+									<Pdo>#x1a03</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..3] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp aktiv</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last output value aktiv</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0804EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Digital input 1</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ready to enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Warning</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Info data 1</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Info data 2</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Reset</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>232</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Invert polarity</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Default output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Max current [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Kp factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Ki factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Kd factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>30</SubIdx>
+									<Name>Dithering frequency [Hz]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>31</SubIdx>
+									<Name>Dithering amplitude [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>33</SubIdx>
+									<Name>Select info data 1</Name>
+									<Type>DT0802EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>216</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>34</SubIdx>
+									<Name>Select info data 2</Name>
+									<Type>DT0804EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800F</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Gain</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Overtemperature</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Undervoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Overvoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Short circuit</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF900</Name>
+								<BitSize>40</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Voltage [mV]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf900</Index>
+								<Name>PWM Info data</Name>
+								<Type>DTF900</Type>
+								<BitSize>40</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Voltage [mV]</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Temperature [°C]</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xfb00</Index>
+								<Name>PWM Command</Name>
+								<Type>DTFB00</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Control Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Control Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PWM Status Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PWM Synchron info data Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PWM Status Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a03</Index>
+					<Name>PWM Synchron info data Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003000a000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9e73052" RevisionNo="#x00100002">EL2535-0002</Type>
+				<Name LcId="1033">EL2535-0002 2Ch. Pulse Width Current Output (24V, 2 A)</Name>
+				<Name LcId="1031">EL2535-0002 2K. Pulsweiten Strom Ausgang (24V, 2 A)</Name>
+				<URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
+				<URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Extended info data</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+									<Pdo>#x1a03</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..3] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp aktiv</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last output value aktiv</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0804EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Digital input 1</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ready to enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Warning</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Info data 1</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Info data 2</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Reset</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>232</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Invert polarity</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Default output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Max current [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Kp factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Ki factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Kd factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>30</SubIdx>
+									<Name>Dithering frequency [Hz]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>31</SubIdx>
+									<Name>Dithering amplitude [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>33</SubIdx>
+									<Name>Select info data 1</Name>
+									<Type>DT0802EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>216</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>34</SubIdx>
+									<Name>Select info data 2</Name>
+									<Type>DT0804EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800F</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Gain</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Overtemperature</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Undervoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Overvoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Short circuit</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF900</Name>
+								<BitSize>40</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Voltage [mV]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Temperature [°C]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTFB00</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Request</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Status</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Response</Name>
+									<Type>ARRAY [0..3] OF BYTE</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353335</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230e709</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>02001000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>PWM RxPDO-Map Control Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>04000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>01060070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>01070070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>09000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 006</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PWM RxPDO-Map Control Ch.2</Name>
+								<Type>DT1600</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01011070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>04000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>01061070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>01071070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>09000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 006</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1a00</Index>
+								<Name>PWM TxPDO-Map Status Ch.1</Name>
+								<Type>DT1A00</Type>
+								<BitSize>272</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
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+											<MaxValue>#x1ffff</MaxValue>
+											<DefaultValue>#x10000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#xffff</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Max current [%]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x64</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Kp factor</Name>
+										<Info>
+											<DefaultData>fa00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ki factor</Name>
+										<Info>
+											<DefaultData>0400</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Kd factor</Name>
+										<Info>
+											<DefaultData>3200</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Dithering frequency [Hz]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x1f4</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Dithering amplitude [%]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x1e</MaxValue>
+											<DefaultValue>#xa</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Select info data 1</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Select info data 2</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x800f</Index>
+								<Name>PWM Vendor data Ch.1</Name>
+								<Type>DT800F</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>0040</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>232</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>22</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable dithering</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Invert polarity</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<MinValue>#xfffe0000</MinValue>
+											<MaxValue>#x1ffff</MaxValue>
+											<DefaultValue>#x10000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#xffff</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Max current [%]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x64</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Kp factor</Name>
+										<Info>
+											<DefaultData>fa00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ki factor</Name>
+										<Info>
+											<DefaultData>0400</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Kd factor</Name>
+										<Info>
+											<DefaultData>3200</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Dithering frequency [Hz]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x1f4</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Dithering amplitude [%]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x1e</MaxValue>
+											<DefaultValue>#xa</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Select info data 1</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Select info data 2</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801f</Index>
+								<Name>PWM Vendor data Ch.2</Name>
+								<Type>DT800F</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>0040</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>PWM Diag data Ch.1</Name>
+								<Type>DTA000</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overtemperature</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Undervoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overvoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa010</Index>
+								<Name>PWM Diag data Ch.2</Name>
+								<Type>DTA000</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overtemperature</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Undervoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overvoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf900</Index>
+								<Name>PWM Info data</Name>
+								<Type>DTF900</Type>
+								<BitSize>40</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Voltage [mV]</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Temperature [°C]</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xfb00</Index>
+								<Name>PWM Command</Name>
+								<Type>DTFB00</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Control Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Control Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PWM Status Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PWM Synchron info data Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PWM Status Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a03</Index>
+					<Name>PWM Synchron info data Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003000a000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9e73052" RevisionNo="#x00100032">EL2535-0050</Type>
+				<Name LcId="1033">EL2535-0050 2Ch. Pulse Width Current Output (24V, 50 mA)</Name>
+				<Name LcId="1031">EL2535-0050 2K. Pulsweiten Strom Ausgang (24V, 50 mA)</Name>
+				<URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
+				<URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Extended info data</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+									<Pdo>#x1a03</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..3] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp aktiv</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last output value aktiv</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0804EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</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>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Digital input 1</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ready to enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Warning</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Info data 1</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Info data 2</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Reset</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>232</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Invert polarity</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Default output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Max current [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Kp factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Ki factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Kd factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>30</SubIdx>
+									<Name>Dithering frequency [Hz]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>31</SubIdx>
+									<Name>Dithering amplitude [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>33</SubIdx>
+									<Name>Select info data 1</Name>
+									<Type>DT0802EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>216</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>34</SubIdx>
+									<Name>Select info data 2</Name>
+									<Type>DT0804EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800F</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Gain</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Overtemperature</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Undervoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Overvoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Short circuit</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</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>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
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+											<DefaultData>f0490200</DefaultData>
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+										<Name>Calc and copy time</Name>
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+											<DefaultData>84030000</DefaultData>
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+											<MaxValue>#x1ffff</MaxValue>
+											<DefaultValue>#x10000</DefaultValue>
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+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
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+									<SubItem>
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+											<DefaultValue>#xffff</DefaultValue>
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+											<MaxValue>#x64</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
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+											<MaxValue>#x1f4</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
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+											<MinValue>#x1</MinValue>
+											<MaxValue>#x1e</MaxValue>
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+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overvoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf900</Index>
+								<Name>PWM Info data</Name>
+								<Type>DTF900</Type>
+								<BitSize>40</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Voltage [mV]</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Temperature [°C]</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xfb00</Index>
+								<Name>PWM Command</Name>
+								<Type>DTFB00</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Control Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Control Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PWM Status Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PWM Synchron info data Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PWM Status Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a03</Index>
+					<Name>PWM Synchron info data Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003000a000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0a2a3052" RevisionNo="#x00100000">EL2602</Type>
+				<Name LcId="1033"><![CDATA[EL2602 2Ch. Relay Output, NO (230V AC / 30V DC)]]></Name>
+				<Name LcId="1031"><![CDATA[EL2602 2K. Relais Ausgang, Schließer (230V AC / 30V DC)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2602]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2602]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>170</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0a343052" RevisionNo="#x00100000">EL2612</Type>
+				<Name LcId="1033"><![CDATA[EL2612 2Ch. Relay Output, CO (125V AC / 30V DC)]]></Name>
+				<Name LcId="1031"><![CDATA[EL2612 2K. Relais Ausgang, Wechsler (125V AC / 30V DC)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2612]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2612]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0a3e3052" RevisionNo="#x00100000">EL2622</Type>
+				<Name LcId="1033"><![CDATA[EL2622 2Ch. Relay Output, NO (230V AC / 30V DC)]]></Name>
+				<Name LcId="1031"><![CDATA[EL2622 2K. Relais Ausgang, Schließer (230V AC / 30V DC)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2622]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2622]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>170</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0A403052" RevisionNo="#x00100000">EL2624</Type>
+				<Name LcId="1033"><![CDATA[EL2624 4Ch. Relay Output, NO (125V AC / 30V DC)]]></Name>
+				<Name LcId="1031"><![CDATA[EL2624 4K. Relais Ausgang, Schließer (125V AC / 30V DC)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2624]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2624]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>200</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0a983052" RevisionNo="#x00100000">EL2712</Type>
+				<Name LcId="1033"><![CDATA[EL2712 2Ch. Triac Output 12..230V AC, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2712 2K. Triac Ausgang 12..230V AC, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2712]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2712]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0aa23052" RevisionNo="#x00100000">EL2722</Type>
+				<Name LcId="1033"><![CDATA[EL2722 2Ch. Triac Output 12..230V AC, 1.0A, mutually locked]]></Name>
+				<Name LcId="1031"><![CDATA[EL2722 2K. Triac Ausgang 12..230V AC, 1.0A, gegenseitig verriegelt]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2722]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2722]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0aac3052" RevisionNo="#x00100000">EL2732</Type>
+				<Name LcId="1033"><![CDATA[EL2732 2Ch. Triac Output 12..230V AC, 0.5A, no power contacts]]></Name>
+				<Name LcId="1031"><![CDATA[EL2732 2K. Triac Ausgang 12..230V AC, 0.5A, keine Powerkontakte]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2732]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2732]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0AEE3052" RevisionNo="#x00100000">EL2798</Type>
+				<Name LcId="1033"><![CDATA[EL2798 8Ch. Dig. Output 24V AC/DC, 2A, potential-free]]></Name>
+				<Name LcId="1031"><![CDATA[EL2798 8K. Dig. Ausgang 24V AC/DC, 2A, potentialfrei]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2798]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2798]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>140</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0AF83052" RevisionNo="#x00100000">EL2808</Type>
+				<Name LcId="1033"><![CDATA[EL2808 8Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2808 8K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2808]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2808]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm MinSize="1" MaxSize="1" DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0AF93052" RevisionNo="#x00100000">EL2809</Type>
+				<Name LcId="1033"><![CDATA[EL2809 16Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2809 16K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2809]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2809]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>140</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1608</Index>
+					<Name>Channel 9</Name>
+					<Entry>
+						<Index>#x7080</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1609</Index>
+					<Name>Channel 10</Name>
+					<Entry>
+						<Index>#x7090</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160a</Index>
+					<Name>Channel 11</Name>
+					<Entry>
+						<Index>#x70a0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160b</Index>
+					<Name>Channel 12</Name>
+					<Entry>
+						<Index>#x70b0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160c</Index>
+					<Name>Channel 13</Name>
+					<Entry>
+						<Index>#x70c0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160d</Index>
+					<Name>Channel 14</Name>
+					<Entry>
+						<Index>#x70d0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160e</Index>
+					<Name>Channel 15</Name>
+					<Entry>
+						<Index>#x70e0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160f</Index>
+					<Name>Channel 16</Name>
+					<Entry>
+						<Index>#x70f0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0B383052" RevisionNo="#x00100000">EL2872</Type>
+				<Name LcId="1033"><![CDATA[EL2872 16Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2872 16K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2872]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2872]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1608</Index>
+					<Name>Channel 9</Name>
+					<Entry>
+						<Index>#x7080</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1609</Index>
+					<Name>Channel 10</Name>
+					<Entry>
+						<Index>#x7090</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160a</Index>
+					<Name>Channel 11</Name>
+					<Entry>
+						<Index>#x70a0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160b</Index>
+					<Name>Channel 12</Name>
+					<Entry>
+						<Index>#x70b0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160c</Index>
+					<Name>Channel 13</Name>
+					<Entry>
+						<Index>#x70c0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160d</Index>
+					<Name>Channel 14</Name>
+					<Entry>
+						<Index>#x70d0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160e</Index>
+					<Name>Channel 15</Name>
+					<Entry>
+						<Index>#x70e0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160f</Index>
+					<Name>Channel 16</Name>
+					<Entry>
+						<Index>#x70f0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0B383052" RevisionNo="#x0010000A">EL2872-0010</Type>
+				<Name LcId="1033"><![CDATA[EL2872-0010 16Ch. Dig. Output 24V, 0.5A, negative]]></Name>
+				<Name LcId="1031"><![CDATA[EL2872-0010 16K. Dig. Ausgang 24V, 0.5A, negativ]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2872]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2872]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1608</Index>
+					<Name>Channel 9</Name>
+					<Entry>
+						<Index>#x7080</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1609</Index>
+					<Name>Channel 10</Name>
+					<Entry>
+						<Index>#x7090</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160a</Index>
+					<Name>Channel 11</Name>
+					<Entry>
+						<Index>#x70a0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160b</Index>
+					<Name>Channel 12</Name>
+					<Entry>
+						<Index>#x70b0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160c</Index>
+					<Name>Channel 13</Name>
+					<Entry>
+						<Index>#x70c0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160d</Index>
+					<Name>Channel 14</Name>
+					<Entry>
+						<Index>#x70d0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160e</Index>
+					<Name>Channel 15</Name>
+					<Entry>
+						<Index>#x70e0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160f</Index>
+					<Name>Channel 16</Name>
+					<Entry>
+						<Index>#x70f0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0B493052" RevisionNo="#x00100000">EL2889</Type>
+				<Name LcId="1033"><![CDATA[EL2889 16Ch. Dig. Output 24V, 0.5A, negative]]></Name>
+				<Name LcId="1031"><![CDATA[EL2889 16K. Dig. Ausgang 24V, 0.5A, negativ]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2889]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2889]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>140</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1608</Index>
+					<Name>Channel 9</Name>
+					<Entry>
+						<Index>#x7080</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1609</Index>
+					<Name>Channel 10</Name>
+					<Entry>
+						<Index>#x7090</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160a</Index>
+					<Name>Channel 11</Name>
+					<Entry>
+						<Index>#x70a0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160b</Index>
+					<Name>Channel 12</Name>
+					<Entry>
+						<Index>#x70b0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160c</Index>
+					<Name>Channel 13</Name>
+					<Entry>
+						<Index>#x70c0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160d</Index>
+					<Name>Channel 14</Name>
+					<Entry>
+						<Index>#x70d0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160e</Index>
+					<Name>Channel 15</Name>
+					<Entry>
+						<Index>#x70e0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160f</Index>
+					<Name>Channel 16</Name>
+					<Entry>
+						<Index>#x70f0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+		</Devices>
+	</Descriptions>
+</EtherCATInfo>