--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/modules/sanyo.xml Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,9465 @@
+<?xml version="1.0" encoding="utf-8"?>
+<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
+ <Vendor>
+ <Id>#x1b9</Id>
+ <Name>Sanyodenki Co., Ltd.</Name>
+ <ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000010000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFFCFFCCCFCFCFCFFFFCFFCFCFFCFCFCFFFCFFCFCFFCFCFCFFCFCFCFCFFFCFCFCFCFCFCCCFFFCCCCCCFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFCCCFCFCFCFFCFFFFFFCFCFCFCFCCFFFFCCCFCCCFCCFCFFFFCFFFCFCFCFFCFFFFCCCFCCCFCFFCFFFFFFFFFFFFFFFFFFFF</ImageData16x14>
+ </Vendor>
+ <Descriptions>
+ <Groups>
+ <Group SortOrder="520">
+ <Type>Drive</Type>
+ <Name LcId="1033">Drives</Name>
+ <Image16x14>DRIVE</Image16x14>
+ </Group>
+ </Groups>
+ <Devices>
+ <Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x00000002" RevisionNo="#x00000000" SerialNo="#x20110111">SanyoDenki RS2 EtherCAT</Type>
+ <HideType ProductRevision="2" />
+ <Name LcId="1"><![CDATA[R ADVANCED MODEL with EtherCAT Coe Interface (8003.0.0111) ]]></Name>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false" />
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOLEAN</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(0)</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1010</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Save all parameters</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <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>DT1400</Name>
+ <BitSize>51</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>RxPDO Excluded PDOs</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>RxPDO state</Name>
+ <Type>BOOLEAN</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>RxPDO contrall</Name>
+ <Type>BOOLEAN</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>49</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>RxPDO toggle</Name>
+ <Type>BOOLEAN</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>50</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>1008</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>432</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>464</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>496</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>528</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>560</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>592</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>624</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>656</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>688</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>720</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>24th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>752</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>25</SubIdx>
+ <Name>25th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>784</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>26</SubIdx>
+ <Name>26th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>816</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>27</SubIdx>
+ <Name>27th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>848</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>28</SubIdx>
+ <Name>28th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>880</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>29</SubIdx>
+ <Name>29th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>912</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>30th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>944</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>31th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>976</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1800</Name>
+ <BitSize>50</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>TxPDO Excluded PDOs</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>TxPDO state</Name>
+ <Type>BOOLEAN</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO toggle</Name>
+ <Type>BOOLEAN</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>49</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C00</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>SyncManager0 communication type</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>SyncManager1 communication type</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>SyncManager2 communication type</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>SyncManager3 communication type</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>SyncManager4 communication type</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>SyncManager5 communication type</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>56</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SyncManager6 communication type</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SyncManager7 communication type</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>72</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C10</Name>
+ <BitSize>16</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Assign2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Assign3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Assign4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>272</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sync mode</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Cycle time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Shift time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sync modes supported</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Minimum cycle time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Calc and copy time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Command</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Cycle time too small</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>SM event missed</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2002</Name>
+ <BitSize>40</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Tuning mode</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Tuning feature</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Tuning performance</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2005</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Kp1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Kp2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Kp3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Kp4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2006</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Tpi1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Tpi2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Tpi3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Tpi4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2008</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Feed forward gain</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Feed forward filter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT200B</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Kvp1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Kvp2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Kvp3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Kvp4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT200C</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Tvi1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Tvi2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Tvi3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Tvi4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT200D</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Jrat1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Jrat2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Jrat3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Jrat4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT200F</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Acceleration feedback Gain</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Acceleration feedback filter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2011</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Tcfil1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Tcfil2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Tcfil3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Tcfil4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2012</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Supfrq1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Supfrq2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Supfrq3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Supfrq4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2014</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Tcnfil A</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Tcnfil B</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Tcnfil C</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Tcnfil D</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2015</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Acceleration compensation</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Deceleration compensation</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Velocity command, Low-pass filter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Velocity command threshold</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2016</Name>
+ <BitSize>120</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Observer characteristic</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Compention gain</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Output filter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Notch filter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>56</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Load inertia rasio</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>72</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>loop proportional gain</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>88</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Load torque filter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>104</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2017</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Km1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Km2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Km3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Km4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2019</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Anrfrq1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Anrfrq2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Anrfrq3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Anrfrq4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT201A</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Resfrq1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Resfrq2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Resfrq3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Resfrq4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2023</Name>
+ <BitSize>40</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Analog monitor1</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Analog monitor2</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Analog monitor output polarity</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT202D</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Filter A, Low friquency phase delay improvement</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Filter B, Depth selection</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Filter C, Depth selection</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Filter D, Depth selection</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT20F0</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Limit behavior</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Positioning method</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Inposition / Position deviation monitor</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Velocity window selection</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Diviation clear selection</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Torque attainment select</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>56</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT20F1</Name>
+ <BitSize>104</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Encoder clear fanction</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Incremental encoder, digital filter</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>External pulse encoder, digital filter</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>External pulse encoder polarity selection</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>CS offset</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>CS counter offset</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Linear encoder porality selection</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Extation command freq. setting value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>88</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT20F2</Name>
+ <BitSize>56</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Main power detection</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Velocity control detection</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Velocity feed back detection</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Frame error filter</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Comunication time out filter</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT20F3</Name>
+ <BitSize>32</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Model control characteristic</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Position loop encoder selection</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT20F8</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Positive Over-Travel</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Negative Over-Travel</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>External error input</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Main powor forced discharge</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Emergency stop</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>56</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Magnetic pole position presumption</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT20F9</Name>
+ <BitSize>40</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Output1 function</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Output2 function</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Output3 function</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT20FD</Name>
+ <BitSize>40</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Main power input type</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Regenerative resistor selection</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Setup software, communication baud rate</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT20FF</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Resolution setting</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Encode type</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>External encoder resolution</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2101</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Error 1</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Error 2</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Error 3</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Error 4</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2102</Name>
+ <BitSize>272</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>now monitor</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>1st latest</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>2nd latest</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>3rd latest</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>4th latest</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>5th latest</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>6th latest</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>7th latest</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2103</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Warning monitor</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Warning mask</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2104</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Actual Kp</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Actual Tpi</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Actual Kvp</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Actual Tvi</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Actual Jrat</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Actual Tcfil</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Actual MKm</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2108</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Motor operation rate</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Predicted motor operating</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2110</Name>
+ <BitSize>112</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st latest</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd latest</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd latest</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT2112</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st latest</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd latest</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd latest</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT607B</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Minimum position limit</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Maximum position limit</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT607D</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Minimum position limit</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Muximum position limit</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6099</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Speed during search for switch</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Speed during search for zero</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT60C2</Name>
+ <BitSize>32</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Interpolation time period value</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Interpolation time index</Name>
+ <Type>SINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT60E3</Name>
+ <BitSize>384</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>288</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>320</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>352</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th supported homing method</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT60FE</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Physical output</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ </DataTypes>
+ <Objects>
+ <Object>
+ <Index>#x1000</Index>
+ <Name>Device type</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>92010200</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>m</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1001</Index>
+ <Name>Error register</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>m</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1008</Index>
+ <Name>Manufacturer device name</Name>
+ <Type>STRING(0)</Type>
+ <BitSize>0</BitSize>
+ <Info>
+ <DefaultString>102R</DefaultString>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1009</Index>
+ <Name>Manufacturer hardware version</Name>
+ <Type>STRING(0)</Type>
+ <BitSize>0</BitSize>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x100a</Index>
+ <Name>Manufacturer software version</Name>
+ <Type>STRING(0)</Type>
+ <BitSize>0</BitSize>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1010</Index>
+ <Name>Store parameters</Name>
+ <Type>DT1010</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Save all parameters</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1018</Index>
+ <Name>Identity object</Name>
+ <Type>DT1018</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Vendor ID</Name>
+ <Info>
+ <DefaultData>b9010000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Product code</Name>
+ <Info>
+ <DefaultData>02000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Revision</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Serial number</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>m</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1400</Index>
+ <Name>1st RxPDO parameter</Name>
+ <Type>DT1400</Type>
+ <BitSize>51</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO contrall</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1401</Index>
+ <Name>2nd RxPDO parameter</Name>
+ <Type>DT1400</Type>
+ <BitSize>51</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO contrall</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1402</Index>
+ <Name>3rd RxPDO parameter</Name>
+ <Type>DT1400</Type>
+ <BitSize>51</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO contrall</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1403</Index>
+ <Name>4th RxPDO parameter</Name>
+ <Type>DT1400</Type>
+ <BitSize>51</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO contrall</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1500</Index>
+ <Name>257th RxPDO parameter</Name>
+ <Type>DT1400</Type>
+ <BitSize>51</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO contrall</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1501</Index>
+ <Name>258th RxPDO parameter</Name>
+ <Type>DT1400</Type>
+ <BitSize>51</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO contrall</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1502</Index>
+ <Name>259th RxPDO parameter</Name>
+ <Type>DT1400</Type>
+ <BitSize>51</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO contrall</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1503</Index>
+ <Name>260th RxPDO parameter</Name>
+ <Type>DT1400</Type>
+ <BitSize>51</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO contrall</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>RxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1600</Index>
+ <Name>1st receive PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>1st mapping data</Name>
+ <Info>
+ <DefaultData>10004060</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1601</Index>
+ <Name>2nd receive PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1602</Index>
+ <Name>3rd receive PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1603</Index>
+ <Name>4th receive PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1700</Index>
+ <Name>257th receive PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>144</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>1st mapping data</Name>
+ <Info>
+ <DefaultData>02004060</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>2nd mapping data</Name>
+ <Info>
+ <DefaultData>01006060</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>3rd mapping data</Name>
+ <Info>
+ <DefaultData>01000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>4th mapping data</Name>
+ <Info>
+ <DefaultData>04007A60</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1701</Index>
+ <Name>258th receive PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>144</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>1st mapping data</Name>
+ <Info>
+ <DefaultData>02004060</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>2nd mapping data</Name>
+ <Info>
+ <DefaultData>01006060</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>3rd mapping data</Name>
+ <Info>
+ <DefaultData>01000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>4th mapping data</Name>
+ <Info>
+ <DefaultData>04007A60</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1702</Index>
+ <Name>259th receive PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>144</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>1st mapping data</Name>
+ <Info>
+ <DefaultData>02004060</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>2nd mapping data</Name>
+ <Info>
+ <DefaultData>01006060</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>3rd mapping data</Name>
+ <Info>
+ <DefaultData>01000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>4th mapping data</Name>
+ <Info>
+ <DefaultData>0400FF60</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1703</Index>
+ <Name>260th receive PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>128</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>1st mapping data</Name>
+ <Info>
+ <DefaultData>02004060</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>2nd mapping data</Name>
+ <Info>
+ <DefaultData>01006060</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>3rd mapping data</Name>
+ <Info>
+ <DefaultData>01000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>4th mapping data</Name>
+ <Info>
+ <DefaultData>02007160</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1800</Index>
+ <Name>1st TxPDO parameter</Name>
+ <Type>DT1800</Type>
+ <BitSize>50</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1801</Index>
+ <Name>2nd TxPDO parameter</Name>
+ <Type>DT1800</Type>
+ <BitSize>50</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1802</Index>
+ <Name>3rd TxPDO parameter</Name>
+ <Type>DT1800</Type>
+ <BitSize>50</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1803</Index>
+ <Name>4th TxPDO parameter</Name>
+ <Type>DT1800</Type>
+ <BitSize>50</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1900</Index>
+ <Name>257th TxPDO parameter</Name>
+ <Type>DT1800</Type>
+ <BitSize>50</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1901</Index>
+ <Name>258th TxPDO parameter</Name>
+ <Type>DT1800</Type>
+ <BitSize>50</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1902</Index>
+ <Name>259th TxPDO parameter</Name>
+ <Type>DT1800</Type>
+ <BitSize>50</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1903</Index>
+ <Name>260th TxPDO parameter</Name>
+ <Type>DT1800</Type>
+ <BitSize>50</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>09</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO Excluded PDOs</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO state</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>TxPDO toggle</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1a00</Index>
+ <Name>1st transmit PDO-Mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>1st mapping data</Name>
+ <Info>
+ <DefaultData>10004160</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1a01</Index>
+ <Name>2nd transmit PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1a02</Index>
+ <Name>3rd transmit PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1a03</Index>
+ <Name>4th transmit PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1b00</Index>
+ <Name>257th transmit PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>128</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>1st mapping data</Name>
+ <Info>
+ <DefaultData>02004160</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>2nd mapping data</Name>
+ <Info>
+ <DefaultData>01006160</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>3rd mapping data</Name>
+ <Info>
+ <DefaultData>01000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>4th mapping data</Name>
+ <Info>
+ <DefaultData>04006460</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1b01</Index>
+ <Name>258th transmit PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>240</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>07</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>1st mapping data</Name>
+ <Info>
+ <DefaultData>02004160</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>2nd mapping data</Name>
+ <Info>
+ <DefaultData>01006160</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>3rd mapping data</Name>
+ <Info>
+ <DefaultData>01000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>4th mapping data</Name>
+ <Info>
+ <DefaultData>04006460</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>5th mapping data</Name>
+ <Info>
+ <DefaultData>04006C60</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>6th mapping data</Name>
+ <Info>
+ <DefaultData>02007760</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>7th mapping data</Name>
+ <Info>
+ <DefaultData>0400F460</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1b02</Index>
+ <Name>259th transmit PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>208</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>06</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>1st mapping data</Name>
+ <Info>
+ <DefaultData>02004160</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>2nd mapping data</Name>
+ <Info>
+ <DefaultData>01006160</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>3rd mapping data</Name>
+ <Info>
+ <DefaultData>01000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>4th mapping data</Name>
+ <Info>
+ <DefaultData>04006460</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>5th mapping data</Name>
+ <Info>
+ <DefaultData>04006C60</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>6th mapping data</Name>
+ <Info>
+ <DefaultData>02007760</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1b03</Index>
+ <Name>260th transmit PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>208</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>06</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>1st mapping data</Name>
+ <Info>
+ <DefaultData>02004160</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>2nd mapping data</Name>
+ <Info>
+ <DefaultData>01006160</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>3rd mapping data</Name>
+ <Info>
+ <DefaultData>01000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>4th mapping data</Name>
+ <Info>
+ <DefaultData>04006460</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>5th mapping data</Name>
+ <Info>
+ <DefaultData>04006C60</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>6th mapping data</Name>
+ <Info>
+ <DefaultData>02007760</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1c00</Index>
+ <Name>Sync manager type</Name>
+ <Type>DT1C00</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>08</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SyncManager0 communication type</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SyncManager1 communication type</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SyncManager2 communication type</Name>
+ <Info>
+ <DefaultData>03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SyncManager3 communication type</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SyncManager4 communication type</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SyncManager5 communication type</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SyncManager6 communication type</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SyncManager7 communication type</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1c10</Index>
+ <Name>SM chanel 0 mailbox receive</Name>
+ <Type>DT1C10</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1c11</Index>
+ <Name>SM chanel 1 mailbox send</Name>
+ <Type>DT1C10</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1c12</Index>
+ <Name>RxPDO assign</Name>
+ <Type>DT1C12</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Assign1</Name>
+ <Info>
+ <DefaultData>0016</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Assign2</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Assign3</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Assign4</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1c13</Index>
+ <Name>TxPDO assign</Name>
+ <Type>DT1C12</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Assign1</Name>
+ <Info>
+ <DefaultData>001A</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Assign2</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Assign3</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Assign4</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1c32</Index>
+ <Name>SM output parameter</Name>
+ <Type>DT1C32</Type>
+ <BitSize>272</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>32</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sync mode</Name>
+ <Info>
+ <DefaultData>0200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Cycle time</Name>
+ <Info>
+ <DefaultData>20A10700</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Shift time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sync modes supported</Name>
+ <Info>
+ <DefaultData>0740</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Minimum cycle time</Name>
+ <Info>
+ <DefaultData>20A10700</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Calc and copy time</Name>
+ <Info>
+ <DefaultData>400D0300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Command</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Delay time</Name>
+ <Info>
+ <DefaultData>30750000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Cycle time too small</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SM event missed</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Shift too short counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sync error</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1c33</Index>
+ <Name>SM input parameter</Name>
+ <Type>DT1C32</Type>
+ <BitSize>272</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>32</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sync mode</Name>
+ <Info>
+ <DefaultData>0200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Cycle time</Name>
+ <Info>
+ <DefaultData>20A10700</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Shift time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sync modes supported</Name>
+ <Info>
+ <DefaultData>0740</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Minimum cycle time</Name>
+ <Info>
+ <DefaultData>20A10700</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Calc and copy time</Name>
+ <Info>
+ <DefaultData>24F40000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Command</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Delay time</Name>
+ <Info>
+ <DefaultData>30750000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Cycle time too small</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SM event missed</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Shift too short counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sync error</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2000</Index>
+ <Name>Control word 1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2001</Index>
+ <Name>Parameter select</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2002</Index>
+ <Name>Auto tuning parameter</Name>
+ <Type>DT2002</Type>
+ <BitSize>40</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tuning mode</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tuning feature</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tuning performance</Name>
+ <Info>
+ <DefaultData>0a</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2003</Index>
+ <Name>Position command smoothing time constant</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2004</Index>
+ <Name>Position command filter time constant</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2005</Index>
+ <Name>Position loop proportional gain</Name>
+ <Type>DT2005</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kp1</Name>
+ <Info>
+ <DefaultData>1E00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kp2</Name>
+ <Info>
+ <DefaultData>1E00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kp3</Name>
+ <Info>
+ <DefaultData>1E00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kp4</Name>
+ <Info>
+ <DefaultData>1E00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2006</Index>
+ <Name>Position loop integral time constant</Name>
+ <Type>DT2006</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tpi1</Name>
+ <Info>
+ <DefaultData>1027</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tpi2</Name>
+ <Info>
+ <DefaultData>1027</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tpi3</Name>
+ <Info>
+ <DefaultData>1027</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tpi4</Name>
+ <Info>
+ <DefaultData>1027</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2007</Index>
+ <Name>Higher tracking control, Position Compensation gain</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2008</Index>
+ <Name>Feed forward parameter</Name>
+ <Type>DT2008</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Feed forward gain</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Feed forward filter</Name>
+ <Info>
+ <DefaultData>A00F</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2009</Index>
+ <Name>Verocity command filter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>D007</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x200a</Index>
+ <Name>Verocity feedback filter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>DC05</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x200b</Index>
+ <Name>Verocity loop proportional gain</Name>
+ <Type>DT200B</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kvp1</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kvp2</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kvp3</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kvp4</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x200c</Index>
+ <Name>Verocity loop integral time constant</Name>
+ <Type>DT200C</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tvi1</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tvi2</Name>
+ <Info>
+ <DefaultData>C800</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tvi3</Name>
+ <Info>
+ <DefaultData>C800</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tvi4</Name>
+ <Info>
+ <DefaultData>C800</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x200d</Index>
+ <Name>Load inertia rasio</Name>
+ <Type>DT200D</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Jrat1</Name>
+ <Info>
+ <DefaultData>6400</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Jrat2</Name>
+ <Info>
+ <DefaultData>6400</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Jrat3</Name>
+ <Info>
+ <DefaultData>6400</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Jrat4</Name>
+ <Info>
+ <DefaultData>6400</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x200e</Index>
+ <Name>Higher tracking control, velocity compensation gain</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x200f</Index>
+ <Name>Acceleration feedback compensation</Name>
+ <Type>DT200F</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Acceleration feedback Gain</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Acceleration feedback filter</Name>
+ <Info>
+ <DefaultData>F401</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2011</Index>
+ <Name>Torque command filter</Name>
+ <Type>DT2011</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tcfil1</Name>
+ <Info>
+ <DefaultData>5802</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tcfil2</Name>
+ <Info>
+ <DefaultData>5802</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tcfil3</Name>
+ <Info>
+ <DefaultData>5802</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tcfil4</Name>
+ <Info>
+ <DefaultData>5802</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2012</Index>
+ <Name>Vibration Suppressor Friquency</Name>
+ <Type>DT2012</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Supfrq1</Name>
+ <Info>
+ <DefaultData>F401</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Supfrq2</Name>
+ <Info>
+ <DefaultData>F401</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Supfrq3</Name>
+ <Info>
+ <DefaultData>F401</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Supfrq4</Name>
+ <Info>
+ <DefaultData>F401</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2013</Index>
+ <Name>Velocity command, Notch filter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2014</Index>
+ <Name>Torque command, Notch filter</Name>
+ <Type>DT2014</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tcnfil A</Name>
+ <Info>
+ <DefaultData>A00F</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tcnfil B</Name>
+ <Info>
+ <DefaultData>A00F</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tcnfil C</Name>
+ <Info>
+ <DefaultData>A00F</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Tcnfil D</Name>
+ <Info>
+ <DefaultData>A00F</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2015</Index>
+ <Name>High setting</Name>
+ <Type>DT2017</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Acceleration compensation</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Deceleration compensation</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Velocity command, Low-pass filter</Name>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Velocity command threshold</Name>
+ <Info>
+ <DefaultData>1400</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2016</Index>
+ <Name>Observer parameter</Name>
+ <Type>DT2016</Type>
+ <BitSize>96</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>07</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Observer characteristic</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Compention gain</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Output filter</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Notch filter</Name>
+ <Info>
+ <DefaultData>A00F</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Load inertia rasio</Name>
+ <Info>
+ <DefaultData>6400</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>loop proportional gain</Name>
+ <Info>
+ <DefaultData>2C01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Load torque filter</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2017</Index>
+ <Name>Model control Gain</Name>
+ <Type>DT2017</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Km1</Name>
+ <Info>
+ <DefaultData>1E00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Km2</Name>
+ <Info>
+ <DefaultData>1E00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Km3</Name>
+ <Info>
+ <DefaultData>1E00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Km4</Name>
+ <Info>
+ <DefaultData>1E00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2018</Index>
+ <Name>Overshooting control filter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>DC05</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2019</Index>
+ <Name>Model Control Anti-resonance friquency</Name>
+ <Type>DT2019</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Anrfrq1</Name>
+ <Info>
+ <DefaultData>2003</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Anrfrq2</Name>
+ <Info>
+ <DefaultData>2003</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Anrfrq3</Name>
+ <Info>
+ <DefaultData>2003</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Anrfrq4</Name>
+ <Info>
+ <DefaultData>2003</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x201a</Index>
+ <Name>Model Control resonance friquency</Name>
+ <Type>DT201A</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Resfrq1</Name>
+ <Info>
+ <DefaultData>2003</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Resfrq2</Name>
+ <Info>
+ <DefaultData>2003</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Resfrq3</Name>
+ <Info>
+ <DefaultData>2003</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Resfrq4</Name>
+ <Info>
+ <DefaultData>2003</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x201b</Index>
+ <Name>Low pass filter of Gain Switching</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x201c</Index>
+ <Name>Internal velocity comannd limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>ffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x201d</Index>
+ <Name>Position command error 1 level</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x201e</Index>
+ <Name>Torque limit at Sequence operation</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>B004</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x201f</Index>
+ <Name>In position near range</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>F4010000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2020</Index>
+ <Name>Speed zero range</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2021</Index>
+ <Name>Low speed range</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2022</Index>
+ <Name>High speed range</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2023</Index>
+ <Name>Analog monitor parameter</Name>
+ <Type>DT2023</Type>
+ <BitSize>40</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Analog monitor1</Name>
+ <Info>
+ <DefaultData>05</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Analog monitor2</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Analog monitor output polarity</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2024</Index>
+ <Name>Delay time of engaging holding brake</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>C201</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2025</Index>
+ <Name>Delay time of releasing holding brake</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>C201</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2026</Index>
+ <Name>Brake operation beginning time</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>1027</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2027</Index>
+ <Name>Power failure detection delay</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>2000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2028</Index>
+ <Name>Following error warning level</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>FFFFFF7F</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2029</Index>
+ <Name>Over load warning level</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>5A00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x202a</Index>
+ <Name>Speed maching width</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x202b</Index>
+ <Name>Torque command filter characteristic</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x202c</Index>
+ <Name>Feed forward filter, Depth selection</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x202d</Index>
+ <Name>Torque command, Notch filter feature</Name>
+ <Type>DT202D</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Filter A, Low friquency phase delay improvement</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Filter B, Depth selection</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Filter C, Depth selection</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Filter D, Depth selection</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x202e</Index>
+ <Name>Torque attainment setting</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>6400</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x20f0</Index>
+ <Name>Amplifier fanction selection</Name>
+ <Type>DT20F0</Type>
+ <BitSize>56</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>06</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Limit behavior</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Positioning method</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Inposition / Position deviation monitor</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Velocity window selection</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Diviation clear selection</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Torque attainment select</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x20f1</Index>
+ <Name>Sensor fanction selection</Name>
+ <Type>DT20F1</Type>
+ <BitSize>104</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>08</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Encoder clear fanction</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Incremental encoder, digital filter</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>External pulse encoder, digital filter</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>External pulse encoder polarity selection</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>CS offset</Name>
+ <Info>
+ <DefaultData>4A01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>CS counter offset</Name>
+ <Info>
+ <DefaultData>4A01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Linear encoder porality selection</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Extation command freq. setting value</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x20f2</Index>
+ <Name>Amplifier alarm detect selection</Name>
+ <Type>DT20F2</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Main power detection</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Velocity control detection</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Velocity feed back detection</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Frame error filter</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Comunication time out filter</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x20f3</Index>
+ <Name>Position loop selection</Name>
+ <Type>DT20F3</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Model control characteristic</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Position loop encoder selection</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x20f4</Index>
+ <Name>Servo loop delay time</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x20f5</Index>
+ <Name>Torque limit at power supply shortage</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x20f8</Index>
+ <Name>General purpose input setting</Name>
+ <Type>DT20F8</Type>
+ <BitSize>64</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>06</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Positive limit switch</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Negative limit switch</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>External error input</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Main powor forced discharge</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Emergency stop</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Magnetic pole position presumption</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x20f9</Index>
+ <Name>General purpose output setting</Name>
+ <Type>DT20F9</Type>
+ <BitSize>40</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Output1 function</Name>
+ <Info>
+ <DefaultData>03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Output2 function</Name>
+ <Info>
+ <DefaultData>0C</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Output3 function</Name>
+ <Info>
+ <DefaultData>39</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x20fa</Index>
+ <Name>Extend station alias</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x20fd</Index>
+ <Name>Amplifier system selection</Name>
+ <Type>DT20FD</Type>
+ <BitSize>40</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Main power input type</Name>
+ <Info>
+ <DefaultData>03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Regenerative resistor selection</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Setup software, communication baud rate</Name>
+ <Info>
+ <DefaultData>03</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x20fe</Index>
+ <Name>Combined motor code</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0100</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x20ff</Index>
+ <Name>Combined sensor</Name>
+ <Type>DT20FF</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Resolution setting</Name>
+ <Info>
+ <DefaultData>0600</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Encode type</Name>
+ <Info>
+ <DefaultData>0003</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>External encoder resolution</Name>
+ <Info>
+ <DefaultData>D0070000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2100</Index>
+ <Name>Status word 1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2101</Index>
+ <Name>Slave error field</Name>
+ <Type>DT2101</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Error 1</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Error 2</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Error 3</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Error 4</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2102</Index>
+ <Name>Description of alarm trace</Name>
+ <Type>DT2102</Type>
+ <BitSize>272</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>08</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>now monitor</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>1st latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>2nd latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>3rd latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>4th latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>5th latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>6th latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>7th latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2103</Index>
+ <Name>Warning status</Name>
+ <Type>DT2103</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Warning monitor</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Warning mask</Name>
+ <Info>
+ <DefaultData>8D4C</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2104</Index>
+ <Name>Actual gein</Name>
+ <Type>DT2104</Type>
+ <BitSize>128</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>07</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Actual Kp</Name>
+ <Info>
+ <DefaultData>1E00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Actual Kpi</Name>
+ <Info>
+ <DefaultData>1027</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Actual Kvp</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Actual Tvi</Name>
+ <Info>
+ <DefaultData>C800</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Actual Jrat</Name>
+ <Info>
+ <DefaultData>6400</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Actual Tcfil</Name>
+ <Info>
+ <DefaultData>5802</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Actual Km</Name>
+ <Info>
+ <DefaultData>1E00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2105</Index>
+ <Name>Zero phase signal base actual position value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2106</Index>
+ <Name>Internal velocity command monitor</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2107</Index>
+ <Name>Internal torque command monitor</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2108</Index>
+ <Name>Motor operation rate monitor</Name>
+ <Type>DT2108</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Motor operation rate</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Predicted motor operating</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2109</Index>
+ <Name>Internal temperature monitor</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x210a</Index>
+ <Name>Regenerative resistor operation percentage</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x210c</Index>
+ <Name>Home index position detection value</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2110</Index>
+ <Name>Internal control cycle position actual value</Name>
+ <Type>DT2110</Type>
+ <BitSize>112</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Position actual 0.125ms latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Position actual 0.25ms latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Position actual 0.375ms latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2111</Index>
+ <Name>Internal control cycle velocity actual value</Name>
+ <Type>DT2110</Type>
+ <BitSize>112</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Velocity actual 0.125ms latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Velocity actual 0.25ms latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Velocity actual 0.375s latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2112</Index>
+ <Name>Internal control cycle torque actual value</Name>
+ <Type>DT2112</Type>
+ <BitSize>64</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Torque actual 0.125ms latest </Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Torque actual 0.25ms latest </Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Torque actual 0.375ms latest </Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2113</Index>
+ <Name>Minimum comunication cycle position actual Value</Name>
+ <Type>DT2110</Type>
+ <BitSize>112</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Position actual 0.5ms latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Position actual 1ms latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Position actual 1.5ms latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2114</Index>
+ <Name>Minimum comunication cycle velocity actual value</Name>
+ <Type>DT2110</Type>
+ <BitSize>112</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>velocity actual 0.5ms latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>velocity actual 1ms latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>velocity actual 1.5ms latest</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x2115</Index>
+ <Name>Minimum comunication cycle torque actual value</Name>
+ <Type>DT2112</Type>
+ <BitSize>64</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Torque actual 0.5ms latest</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Torque actual 1ms latest</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Torque actual 1.5ms latest</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6007</Index>
+ <Name>About connection option code</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x603f</Index>
+ <Name>Error code</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>m</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6040</Index>
+ <Name>Control word</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>m</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6041</Index>
+ <Name>Status word</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x605a</Index>
+ <Name>Quick stop option code</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0200</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x605b</Index>
+ <Name>Shutdown option code</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>ffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x605c</Index>
+ <Name>Disable operation option code</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x605d</Index>
+ <Name>Halt option code</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0100</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x605e</Index>
+ <Name>Fault reaction option code</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6060</Index>
+ <Name>Modes of operation</Name>
+ <Type>SINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6061</Index>
+ <Name>Modes of operation display</Name>
+ <Type>SINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6063</Index>
+ <Name>Internal position actualvalue</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6064</Index>
+ <Name>Position actual value</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6065</Index>
+ <Name>Following error window</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>404B4C00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6066</Index>
+ <Name>Following error time out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6067</Index>
+ <Name>Position window</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>F4010000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6068</Index>
+ <Name>Position window time</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x606a</Index>
+ <Name>Sensor selection code</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x606c</Index>
+ <Name>Velocity actual value</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x606d</Index>
+ <Name> Velocity window</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x606e</Index>
+ <Name>Velocity window time</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6071</Index>
+ <Name>Target torque</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6072</Index>
+ <Name>Max torque</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>8813</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6077</Index>
+ <Name>Torque actual value</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x607a</Index>
+ <Name>Target position</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x607b</Index>
+ <Name>Position range limit</Name>
+ <Type>DT607D</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Minimum position range limit</Name>
+ <Info>
+ <DefaultData>00000080</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Muximum position range limit</Name>
+ <Info>
+ <DefaultData>ffffff7f</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x607c</Index>
+ <Name>Home offset</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x607d</Index>
+ <Name>Software position limit</Name>
+ <Type>DT607D</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Minimum Software position limit</Name>
+ <Info>
+ <DefaultData>00000080</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Muximum Software position limit</Name>
+ <Info>
+ <DefaultData>ffffff7f</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x607e</Index>
+ <Name>Polarity</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x607f</Index>
+ <Name>Max profile velocity</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>FFFFFFFF</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6081</Index>
+ <Name>Profile velocity</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00006400</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>m</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6083</Index>
+ <Name>Profile acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>FFFFFFFF</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6084</Index>
+ <Name>Profile deceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6085</Index>
+ <Name>Quick stop deceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6086</Index>
+ <Name>Motion profile type</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6087</Index>
+ <Name>Torque slope</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6098</Index>
+ <Name>Homing method</Name>
+ <Type>SINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6099</Index>
+ <Name>Homing speeds</Name>
+ <Type>DT6099</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for switch</Name>
+ <Info>
+ <DefaultData>55550300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for zero</Name>
+ <Info>
+ <DefaultData>88080000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x609a</Index>
+ <Name>Homing acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60b0</Index>
+ <Name>Profile offset</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60b1</Index>
+ <Name>Velocity offset</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60b2</Index>
+ <Name>Torque offset</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60b8</Index>
+ <Name>Touch probe function</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60b9</Index>
+ <Name>Touch probe status</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60ba</Index>
+ <Name>Touch probe position 1 positive value</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60bb</Index>
+ <Name>Touch probe position 1 negative value</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60bc</Index>
+ <Name>Touch probe position 2 positive value</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60bd</Index>
+ <Name>Touch probe position 2 negative value</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60c2</Index>
+ <Name>Interpolation time period</Name>
+ <Type>DT60C2</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Interpolation time period value</Name>
+ <Info>
+ <DefaultData>05</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Interpolation time index</Name>
+ <Info>
+ <DefaultData>fc</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60e0</Index>
+ <Name>Positive torque limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60e1</Index>
+ <Name>Negative torque limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60e3</Index>
+ <Name>Supported homing methods</Name>
+ <Type>DT60E3</Type>
+ <BitSize>352</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>17</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>1st supported homing method</Name>
+ <Info>
+ <DefaultData>0103</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>2nd supported homing method</Name>
+ <Info>
+ <DefaultData>0203</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>3rd supported homing method</Name>
+ <Info>
+ <DefaultData>0303</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>4th supported homing method</Name>
+ <Info>
+ <DefaultData>0403</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>5th supported homing method</Name>
+ <Info>
+ <DefaultData>0503</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>6th supported homing method</Name>
+ <Info>
+ <DefaultData>0603</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>7th supported homing method</Name>
+ <Info>
+ <DefaultData>0703</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>8th supported homing method</Name>
+ <Info>
+ <DefaultData>0803</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>9th supported homing method</Name>
+ <Info>
+ <DefaultData>0903</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>10th supported homing method</Name>
+ <Info>
+ <DefaultData>0a03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>11th supported homing method</Name>
+ <Info>
+ <DefaultData>0b03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>12th supported homing method</Name>
+ <Info>
+ <DefaultData>0c03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>13th supported homing method</Name>
+ <Info>
+ <DefaultData>0d03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>14th supported homing method</Name>
+ <Info>
+ <DefaultData>0e03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>15th supported homing method</Name>
+ <Info>
+ <DefaultData>1103</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>16th supported homing method</Name>
+ <Info>
+ <DefaultData>1203</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>17th supported homing method</Name>
+ <Info>
+ <DefaultData>1303</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>18th supported homing method</Name>
+ <Info>
+ <DefaultData>1403</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>19th supported homing method</Name>
+ <Info>
+ <DefaultData>1503</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>20th supported homing method</Name>
+ <Info>
+ <DefaultData>1603</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>21th supported homing method</Name>
+ <Info>
+ <DefaultData>2103</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>22th supported homing method</Name>
+ <Info>
+ <DefaultData>2203</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>23th supported homing method</Name>
+ <Info>
+ <DefaultData>2303</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60e6</Index>
+ <Name>Position actual value calcuation method</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60f4</Index>
+ <Name>Following error actualvalue</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60fd</Index>
+ <Name>Digital inputs</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60fe</Index>
+ <Name>Digital outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60ff</Index>
+ <Name>Target velocity</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported drive mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>80030300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Sm MinSize="128" MaxSize="1024" DefaultSize="512" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="128" MaxSize="1024" DefaultSize="512" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Fixed="1">
+ <Index>#x1600</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1601</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1603</Exclude>
+ <Exclude>#x1700</Exclude>
+ <Exclude>#x1701</Exclude>
+ <Exclude>#x1702</Exclude>
+ <Exclude>#x1703</Exclude>
+ <Entry>
+ <Index>#x6040</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Control word</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1601</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1603</Exclude>
+ <Exclude>#x1700</Exclude>
+ <Exclude>#x1701</Exclude>
+ <Exclude>#x1702</Exclude>
+ <Exclude>#x1703</Exclude>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1601</Exclude>
+ <Exclude>#x1603</Exclude>
+ <Exclude>#x1700</Exclude>
+ <Exclude>#x1701</Exclude>
+ <Exclude>#x1702</Exclude>
+ <Exclude>#x1703</Exclude>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1603</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1601</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1700</Exclude>
+ <Exclude>#x1701</Exclude>
+ <Exclude>#x1702</Exclude>
+ <Exclude>#x1703</Exclude>
+ </RxPdo>
+ <RxPdo Mandatory="1" Sm="2">
+ <Index>#x1700</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1601</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1603</Exclude>
+ <Exclude>#x1701</Exclude>
+ <Exclude>#x1702</Exclude>
+ <Exclude>#x1703</Exclude>
+ <Entry>
+ <Index>#x6040</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Control word</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607a</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target position</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6081</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Profile velocity</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6083</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Profile acceleration</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6084</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Profile deceleration</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60ff</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target velocity</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target torque</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60B8</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Touch probe function</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60fe</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Digital outputs</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1701</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1601</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1603</Exclude>
+ <Exclude>#x1700</Exclude>
+ <Exclude>#x1702</Exclude>
+ <Exclude>#x1703</Exclude>
+ <Entry>
+ <Index>#x6040</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Control word</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2000</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Control word 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation</Name>
+ <DataType>SINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0000</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x607a</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target position</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60ff</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target velocity</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target torque</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6081</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Profile velocity</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6083</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Profile acceleration</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6084</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Profile deceleration</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6087</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Torque slope</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6072</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Max torque</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6099</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Speed during search for switch</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6099</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Speed during search for zero</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x200d</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Load inertia rasio</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60fe</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Digital outputs</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1702</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1601</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1603</Exclude>
+ <Exclude>#x1700</Exclude>
+ <Exclude>#x1701</Exclude>
+ <Exclude>#x1703</Exclude>
+ <Entry>
+ <Index>#x6040</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Control word</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2001</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Parameter select</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60B8</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Touch probe function</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation</Name>
+ <DataType>SINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0000</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x607a</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target position</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60ff</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target velocity</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target torque</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6081</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Profile velocity</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6083</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Profile acceleration</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6084</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Profile deceleration</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6087</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Torque slope</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607c</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Home offset</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6099</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Speed during search for switch</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6099</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Speed during search for zero</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x200d</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Load inertia rasio</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2089</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Orientation Posision command</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1703</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1601</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1603</Exclude>
+ <Exclude>#x1700</Exclude>
+ <Exclude>#x1701</Exclude>
+ <Exclude>#x1702</Exclude>
+ <Entry>
+ <Index>#x6040</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Control word</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2000</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Control word 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2001</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Parameter select</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation</Name>
+ <DataType>SINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0000</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x607a</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target position</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60ff</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target velocity</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target torque</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6081</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Profile velocity</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6083</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Profile acceleration</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6084</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Profile deceleration</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6087</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Torque slope</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60b0</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Profile offset</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60b1</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Velocity offset</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60b2</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque offset</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2005</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Position loop proportional gain 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2006</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Position loop integral time constant 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2008</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Feed forward gain</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x200b</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Verocity loop proportional gain 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x200c</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Verocity loop integral time constant 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x200d</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Load inertia rasio</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2011</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque command filter 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6072</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Max torque</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60e0</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Positive torque limit</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60e1</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Negative torque limit</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6065</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Following error window</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2012</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Vibration Suppressor Friquency 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2017</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Model control Gain 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2019</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Model Control Anti-resonance friquency 1</Name>
+ <DataType>UIN</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x201a</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Model Control resonance friquency 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60fe</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Digital output</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a00</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a03</Exclude>
+ <Exclude>#x1b00</Exclude>
+ <Exclude>#x1b01</Exclude>
+ <Exclude>#x1b02</Exclude>
+ <Exclude>#x1b03</Exclude>
+ <Entry>
+ <Index>#x6041</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a01</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a00</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a03</Exclude>
+ <Exclude>#x1b00</Exclude>
+ <Exclude>#x1b01</Exclude>
+ <Exclude>#x1b02</Exclude>
+ <Exclude>#x1b03</Exclude>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a02</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a00</Exclude>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a03</Exclude>
+ <Exclude>#x1b00</Exclude>
+ <Exclude>#x1b01</Exclude>
+ <Exclude>#x1b02</Exclude>
+ <Exclude>#x1b03</Exclude>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a03</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a00</Exclude>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1b00</Exclude>
+ <Exclude>#x1b01</Exclude>
+ <Exclude>#x1b02</Exclude>
+ <Exclude>#x1b03</Exclude>
+ </TxPdo>
+ <TxPdo Mandatory="1" Sm="3">
+ <Index>#x1b00</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a00</Exclude>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a03</Exclude>
+ <Exclude>#x1b01</Exclude>
+ <Exclude>#x1b02</Exclude>
+ <Exclude>#x1b03</Exclude>
+ <Entry>
+ <Index>#x6041</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status word</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2100</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status word 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x606c</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Velocity actual value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60f4</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Following error actualvalue</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60b9</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Touch probe status</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60ba</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Touch probe position 1 positive value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60bb</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Touch probe position 1 negative value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60fd</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Digital input</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x1001</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Error register</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <DataType>SINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1b01</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a00</Exclude>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a03</Exclude>
+ <Exclude>#x1b00</Exclude>
+ <Exclude>#x1b02</Exclude>
+ <Exclude>#x1b03</Exclude>
+ <Entry>
+ <Index>#x6041</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status word</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2100</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status Word 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <DataType>SINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x1001</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Error register</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2103</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Warning status</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x606c</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Velocity actual value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60f4</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Following error actualvalue</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2101</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Slave error field 1</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2101</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Slave error field 2</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Kp</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Kpi</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Kvp</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Tvi</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Jrat</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Tcfil</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2108</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Predicted motor operating</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2109</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Internal temperature monitor</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x210a</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Regenerative resistor operation percentage</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60fd</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Digital input</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1b02</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a00</Exclude>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a03</Exclude>
+ <Exclude>#x1b00</Exclude>
+ <Exclude>#x1b01</Exclude>
+ <Exclude>#x1b03</Exclude>
+ <Entry>
+ <Index>#x6041</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status word</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2100</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status Word 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60b9</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Touch probe status</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <DataType>SINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x1001</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Error register</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6063</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Internal position actualvalue</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x210c</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Home index position detection value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x606c</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Velocity actual value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60f4</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Following error actualvalue</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60ba</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Touch probe position 1 positive value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60bb</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Touch probe position 1 negative value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60bc</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Touch probe position 2 positive value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60bd</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Touch probe position 2 negative value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60fd</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Digital input</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Kp</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Kpi</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Kvp</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Tvi</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Jrat</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Tcfil</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2108</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Predicted motor operating</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2109</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Internal temperature monitor</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x210a</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Regenerative resistor operation percentage</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1b03</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a00</Exclude>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a03</Exclude>
+ <Exclude>#x1b00</Exclude>
+ <Exclude>#x1b01</Exclude>
+ <Exclude>#x1b02</Exclude>
+ <Entry>
+ <Index>#x6041</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status word</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2100</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status Word 1</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <DataType>SINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x1001</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Error register</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2103</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Warning status</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x606c</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Velocity actual value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60f4</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Following error actualvalue</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6063</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Internal position actualvalue</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60fd</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Digital input</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60fe</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Digital output</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2101</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Slave error field 1</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2101</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Slave error field 2</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2101</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Slave error field 3</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2101</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Slave error field 4</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Kp</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Kpi</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Kvp</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Tvi</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Jrat</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Tcfil</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2104</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Actual Km</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2105</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Zero phase signal base actual position value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2106</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Internal velocity command monitor</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2107</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Internal torque command monitor</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2108</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Motor operation rate</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2108</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Predicted motor operating</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x2109</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Internal temperature monitor</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x210a</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Regenerative resistor operation percentage</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x210c</Index>
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Home index position detection value</Name>
+ <DataType>DINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SdoInfo="true">
+ <InitCmd>
+ <Transition>PS</Transition>
+ <Index>#x6060</Index>
+ <SubIndex>0</SubIndex>
+ <Data>08</Data>
+ <Comment>Modes of operations</Comment>
+ </InitCmd>
+ </CoE>
+ <FoE></FoE>
+ </Mailbox>
+ <Dc UnknownFRMW="1">
+ <OpMode>
+ <Name>Dc Synchron</Name>
+ <Desc>Synchron with SYNC0 Event</Desc>
+ <AssignActivate>#x0300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <Sm No="2">
+ <SyncType>2</SyncType>
+ <CycleTime Factor="1">0</CycleTime>
+ <ShiftTime MinAfterSync="0">0</ShiftTime>
+ </Sm>
+ <Sm No="3">
+ <SyncType>2</SyncType>
+ <CycleTime Factor="1">0</CycleTime>
+ <ShiftTime MinBeforeFrame="100">0</ShiftTime>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>Synchron</Name>
+ <Desc>Synchron with SM2 Event</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ <Sm No="2">
+ <SyncType>1</SyncType>
+ <CycleTime Factor="1">0</CycleTime>
+ <ShiftTime MinAfterSync="100">100</ShiftTime>
+ </Sm>
+ <Sm No="3">
+ <SyncType>34</SyncType>
+ <CycleTime Factor="1">0</CycleTime>
+ <ShiftTime MinBeforeFrame="100">0</ShiftTime>
+ </Sm>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>4096</ByteSize>
+ <ConfigData>080C00CC6400</ConfigData>
+ <BootStrap>00180002001C0002</BootStrap>
+ </Eeprom>
+ </Device>
+ </Devices>
+ </Descriptions>
+</EtherCATInfo>
\ No newline at end of file