tests/ethercat/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_rv3.xml
Merged GPL + LGPL v2 or later EtherCAT extension. Fixed headers and copyright notice.
<?xml version="1.0" encoding="utf-8"?>
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
<Vendor>
<Id>#x00000625</Id>
<Name>HIGEN Motor Co., Ltd.</Name>
<ImageData16x14>424DB6030000000000003600000028000000100000000E000000010020000000000080030000130B0000130B00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFFFFFFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF</ImageData16x14>
</Vendor>
<Descriptions>
<Groups>
<Group SortOrder="520">
<Type>Drive</Type>
<Name LcId="1033">Drives</Name>
<Image16x14>DRIVE</Image16x14>
</Group>
</Groups>
<Devices>
<Device Physics="YY">
<Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000003">EDA7000 CoE Drive</Type>
<Name LcId="1033"><![CDATA[EDA7000 CoE Servo Drive]]></Name>
<URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
<Info>
<StateMachine>
<Behavior StartToSafeopNoSync="false" />
</StateMachine>
</Info>
<GroupType>Drive</GroupType>
<Profile>
<ProfileNo>402</ProfileNo>
<Dictionary>
<DataTypes>
<DataType>
<Name>BOOL</Name>
<BitSize>1</BitSize>
</DataType>
<DataType>
<Name>SINT</Name>
<BitSize>8</BitSize>
</DataType>
<DataType>
<Name>USINT</Name>
<BitSize>8</BitSize>
</DataType>
<DataType>
<Name>INT</Name>
<BitSize>16</BitSize>
</DataType>
<DataType>
<Name>UINT</Name>
<BitSize>16</BitSize>
</DataType>
<DataType>
<Name>DINT</Name>
<BitSize>32</BitSize>
</DataType>
<DataType>
<Name>UDINT</Name>
<BitSize>32</BitSize>
</DataType>
<DataType>
<Name>STRING(4)</Name>
<BitSize>32</BitSize>
</DataType>
<DataType>
<Name>STRING(12)</Name>
<BitSize>96</BitSize>
</DataType>
<DataType>
<Name>DT1018</Name>
<BitSize>80</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>largest sub-index supported</Name>
<Type>USINT</Type>
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<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Vendor ID</Name>
<Type>UDINT</Type>
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<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Product code</Name>
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<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1600</Name>
<BitSize>208</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>largest sub-index supported</Name>
<Type>USINT</Type>
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<BitOffs>0</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>1 mapping data</Name>
<Type>UDINT</Type>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>2 mapping data</Name>
<Type>UDINT</Type>
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<Flags>
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</Flags>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
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<SubIdx>4</SubIdx>
<Name>4 mapping data</Name>
<Type>UDINT</Type>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>5 mapping data</Name>
<Type>UDINT</Type>
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<BitOffs>144</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>6 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>176</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A00</Name>
<BitSize>176</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>largest sub-index supported</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>1 mapping data</Name>
<Type>UDINT</Type>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
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<Name>2 mapping data</Name>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
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<SubItem>
<SubIdx>3</SubIdx>
<Name>3 mapping data</Name>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
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<SubIdx>4</SubIdx>
<Name>4 mapping data</Name>
<Type>UDINT</Type>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>5 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A02</Name>
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<Name>largest sub-index supported</Name>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
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<SubItem>
<SubIdx>1</SubIdx>
<Name>1 mapping data</Name>
<Type>UDINT</Type>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>2 mapping data</Name>
<Type>UDINT</Type>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>3 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>4 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>5 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>6 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>176</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>7 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>208</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>8 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>9 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>272</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C12</Name>
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>largest sub-index supported</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Assign1</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C32</Name>
<BitSize>384</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>largest sub-index supported</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Sync mode</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>32</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Shift time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>64</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Sync modes supported</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>96</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Minimum cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Calc and copy time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>Get cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>176</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>208</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Cycle exceeded counter</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>272</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>SM event missed counter</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>13</SubIdx>
<Name>Shift too short counter</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>336</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>32</SubIdx>
<Name>Sync error</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>368</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT607D</Name>
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<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Minimum Software position limit</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Maximum Software position limit</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT6099</Name>
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<SubIdx>0</SubIdx>
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</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Speed during search for switch</Name>
<Type>UDINT</Type>
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<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Speed during search for zero</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT60FE</Name>
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<SubItem>
<SubIdx>0</SubIdx>
<Name>largest sub-index supported</Name>
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<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Physical output</Name>
<Type>UDINT</Type>
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<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT20A0</Name>
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<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Alarm history 1</Name>
<Type>UDINT</Type>
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<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Alarm history 2</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Alarm history 3</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Alarm history 4</Name>
<Type>UDINT</Type>
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<BitOffs>112</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Alarm history 5</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Alarm history 6</Name>
<Type>UDINT</Type>
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<BitOffs>176</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>Alarm history 7</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>208</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>Alarm history 8</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Alarm history 9</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>272</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Alarm history 10</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Alarm Reset</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>336</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
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<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Invalid Frame Counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Rx Error Counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>32</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Lost Link Counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Counter Reset</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>64</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
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<Name>DT608F</Name>
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<SubIdx>0</SubIdx>
<Name>largest sub-index supported</Name>
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<BitOffs>0</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Encoder increments</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Motor revolutions</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT6090</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>Encoder incremets per second</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Motor revolutions per second</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT6092</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>Feed</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Shaft revolutions</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A01</Name>
<BitSize>240</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>largest sub-index supported</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>1 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>2 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>3 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>4 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>5 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>6 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>176</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>7 mapping data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>208</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
</DataTypes>
<Objects>
<Object>
<Index>#x2027</Index>
<Name>Ripple COMPEN</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<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>#x1018</Index>
<Name>Identity object</Name>
<Type>DT1018</Type>
<BitSize>80</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>02</DefaultData>
<!-- 4 -> 2 -->
</Info>
</SubItem>
<SubItem>
<Name>Vendor ID</Name>
<Info>
<DefaultData>00000625</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Product code</Name>
<Info>
<DefaultData>69686555</DefaultData>
<!-- EDA7 ascii code -->
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>m</Category>
</Flags>
</Object>
<Object>
<Index>#x1600</Index>
<Name>1st receive PDO mapping</Name>
<Type>DT1600</Type>
<BitSize>208</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>06</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>1 mapping data</Name>
<Info>
<DefaultData>10004060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>2 mapping data</Name>
<Info>
<DefaultData>20007A60</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>3 mapping data</Name>
<Info>
<DefaultData>2000FF60</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>4 mapping data</Name>
<Info>
<DefaultData>10007160</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>5 mapping data</Name>
<Info>
<DefaultData>08006060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>6 mapping data</Name>
<Info>
<DefaultData>08000000</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>208</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>06</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>1 mapping data</Name>
<Info>
<DefaultData>10004060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>2 mapping data</Name>
<Info>
<DefaultData>2000FF60</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>3 mapping data</Name>
<Info>
<DefaultData>1000E060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>4 mapping data</Name>
<Info>
<DefaultData>1000E160</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>5 mapping data</Name>
<Info>
<DefaultData>08060060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>6 mapping data</Name>
<Info>
<DefaultData>08000000</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>208</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>06</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>1 mapping data</Name>
<Info>
<DefaultData>10004060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>2 mapping data</Name>
<Info>
<DefaultData>20007A60</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>3 mapping data</Name>
<Info>
<DefaultData>2000FF60</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>4 mapping data</Name>
<Info>
<DefaultData>1000B860</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>5 mapping data</Name>
<Info>
<DefaultData>08060060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>6 mapping data</Name>
<Info>
<DefaultData>08000000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1A00</Index>
<Name>1st transmit PDO-Mapping</Name>
<Type>DT1A00</Type>
<BitSize>176</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>01</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>1 mapping data</Name>
<Info>
<DefaultData>10004160</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>2 mapping data</Name>
<Info>
<DefaultData>20006460</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>3 mapping data</Name>
<Info>
<DefaultData>10007760</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>4 mapping data</Name>
<Info>
<DefaultData>08006160</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>5 mapping data</Name>
<Info>
<DefaultData>08000000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1A01</Index>
<Name>2nd transmit PDO-Mapping</Name>
<Type>DT1A01</Type>
<BitSize>240</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>07</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>1 mapping data</Name>
<Info>
<DefaultData>10004160</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>2 mapping data</Name>
<Info>
<DefaultData>20006460</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>3 mapping data</Name>
<Info>
<DefaultData>20006C60</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>4 mapping data</Name>
<Info>
<DefaultData>10007760</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>5 mapping data</Name>
<Info>
<DefaultData>10005120</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>6 mapping data</Name>
<Info>
<DefaultData>08006160</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>7 mapping data</Name>
<Info>
<DefaultData>08000000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1A02</Index>
<Name>3rd transmit PDO-Mapping</Name>
<Type>DT1A02</Type>
<BitSize>304</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>09</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>1 mapping data</Name>
<Info>
<DefaultData>10004160</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>2 mapping data</Name>
<Info>
<DefaultData>20006460</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>3 mapping data</Name>
<Info>
<DefaultData>20006C60</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>4 mapping data</Name>
<Info>
<DefaultData>1000B960</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>5 mapping data</Name>
<Info>
<DefaultData>2000BA60</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>6 mapping data</Name>
<Info>
<DefaultData>2000BB60</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>7 mapping data</Name>
<Info>
<DefaultData>2000FD60</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>8 mapping data</Name>
<Info>
<DefaultData>08006160</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>9 mapping data</Name>
<Info>
<DefaultData>08000000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1C12</Index>
<Name>RxPDO assign</Name>
<Type>DT1C12</Type>
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>01</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Assign1</Name>
<Info>
<DefaultData>0016</DefaultData>
</Info>
</SubItem>
</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>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1C32</Index>
<Name>SM output parameter</Name>
<Type>DT1C32</Type>
<BitSize>384</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>00350C00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync modes supported</Name>
<Info>
<DefaultData>2500</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Minimum cycle time</Name>
<Info>
<DefaultData>00350C00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Calc and copy time</Name>
<Info>
<DefaultData>50C30000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Get cycle time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>A0860100</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>00000000</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>#x1C33</Index>
<Name>SM input parameter</Name>
<Type>DT1C32</Type>
<BitSize>384</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>00350C00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift time</Name>
<Info>
<DefaultData>400D0300</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync modes supported</Name>
<Info>
<DefaultData>2500</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Minimum cycle time</Name>
<Info>
<DefaultData>00350C00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Calc and copy time</Name>
<Info>
<DefaultData>50C30000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Get cycle time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>A0860100</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2000</Index>
<Name>Drive ID (P01-11)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>0000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2001</Index>
<Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>09</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2002</Index>
<Name>Pulse Out Rate (P01-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00020000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2003</Index>
<Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>0100</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2004</Index>
<Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>0000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2010</Index>
<Name>Mode Change Time (x0.1ms) (P02-02)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2011</Index>
<Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2012</Index>
<Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2013</Index>
<Name>Brake Speed (x0.1rpm) (P02-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000001F4</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2014</Index>
<Name>Brake Time (x0.1ms) (P02-08)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000032</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2015</Index>
<Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2016</Index>
<Name>Notch Filter 1 Mode (P02-10)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2017</Index>
<Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000BB8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2018</Index>
<Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003B6</DefaultData>
</Info>
<Flags>
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<Object>
<Index>#x2019</Index>
<Name>Notch Filter 2 Mode (P02-13)</Name>
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<DefaultData>00</DefaultData>
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<Access>rw</Access>
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<Index>#x201A</Index>
<Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
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<Info>
<DefaultData>00001388</DefaultData>
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<Access>rw</Access>
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<Index>#x201B</Index>
<Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>000003B6</DefaultData>
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<Access>rw</Access>
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<Index>#x201C</Index>
<Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x201D</Index>
<Name>Auto Tuning Mode (P02-17)</Name>
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<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x201E</Index>
<Name>System Response (P02-18)</Name>
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<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x201F</Index>
<Name>Inertia Ratio (x0.1) (P02-19)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000014</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2020</Index>
<Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00001F40</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2021</Index>
<Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
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<Info>
<DefaultData>000003E8</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2022</Index>
<Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2023</Index>
<Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2025</Index>
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<Info>
<DefaultData>0003</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2026</Index>
<Name>Parameter Initialization (P02-29)</Name>
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<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2030</Index>
<Name>Speed Gain Mode (P03-01)</Name>
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<Info>
<DefaultData>01</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2031</Index>
<Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2032</Index>
<Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2033</Index>
<Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
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<Access>rw</Access>
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<Object>
<Index>#x2034</Index>
<Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
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<Access>rw</Access>
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<Index>#x2035</Index>
<Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Index>#x2036</Index>
<Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Index>#x2037</Index>
<Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2038</Index>
<Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2039</Index>
<Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000064</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x203A</Index>
<Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x203B</Index>
<Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
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<Access>rw</Access>
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<Object>
<Index>#x2040</Index>
<Name>Position Gain Mode (P05-01)</Name>
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<Info>
<DefaultData>01</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2041</Index>
<Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2042</Index>
<Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Index>#x2043</Index>
<Name>Position Control P Gain 2 (x0.1Hz) (P05-06)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2044</Index>
<Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2045</Index>
<Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2046</Index>
<Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2047</Index>
<Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
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<Info>
<DefaultData>00000001</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2048</Index>
<Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
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<Info>
<DefaultData>00000001</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2049</Index>
<Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
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<Access>rw</Access>
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<Object>
<Index>#x204A</Index>
<Name>Position Control Bias Pulse Band (ppr) (P05-21)</Name>
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<Info>
<DefaultData>000A</DefaultData>
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<Object>
<Index>#x204B</Index>
<Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2050</Index>
<Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2051</Index>
<Name>Actual peak torque limit</Name>
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<BitSize>16</BitSize>
<Info>
<DefaultData>0000</DefaultData>
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<PdoMapping>T</PdoMapping>
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<Object>
<Index>#x2070</Index>
<Name>Monitor 1 Select (P09-01)</Name>
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<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2071</Index>
<Name>Monitor 1 Absolute (P09-02)</Name>
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<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2072</Index>
<Name>Monitor 1 Scale (x0.1) (P09-03)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
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<Access>rw</Access>
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</Flags>
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<Object>
<Index>#x2073</Index>
<Name>Monitor 1 Offset (mV) (P09-04)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2074</Index>
<Name>Monitor 2 Select (P09-05)</Name>
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<Info>
<DefaultData>01</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2075</Index>
<Name>Monitor 2 Absolute (P09-06)</Name>
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<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2076</Index>
<Name>Monitor 2 Scale (x0.1) (P09-07)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2077</Index>
<Name>Monitor 2 Offset (mV) (P09-08)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
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</Flags>
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<Object>
<Index>#x603F</Index>
<Name>Error Code</Name>
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<Info>
<DefaultData>0000</DefaultData>
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<Object>
<Index>#x6040</Index>
<Name>Controlword</Name>
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<DefaultData>0000</DefaultData>
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<PdoMapping>R</PdoMapping>
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<Object>
<Index>#x6041</Index>
<Name>Statusword</Name>
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<Info>
<DefaultData>0000</DefaultData>
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<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
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</Object>
<Object>
<Index>#x605A</Index>
<Name>Quick Stop Option Code</Name>
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<Info>
<DefaultData>0600</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x605C</Index>
<Name>Disable Operation Option Code</Name>
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<Info>
<DefaultData>0200</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
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</Object>
<Object>
<Index>#x605E</Index>
<Name>Fault Reaction Option Code</Name>
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<Info>
<DefaultData>FFFF</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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</Object>
<Object>
<Index>#x6060</Index>
<Name>Modes Of Operation</Name>
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<Info>
<DefaultData>08</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6061</Index>
<Name>Modes Of Operation Display</Name>
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<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
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</Object>
<Object>
<Index>#x6064</Index>
<Name>Position Actual Value</Name>
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<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
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</Object>
<Object>
<Index>#x6065</Index>
<Name>Following Error Window</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>404B4C00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
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</Object>
<Object>
<Index>#x6067</Index>
<Name>Position Window</Name>
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<Info>
<DefaultData>F4010000</DefaultData>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x606C</Index>
<Name>Velocity Actual Value</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x606D</Index>
<Name> Velocity Window</Name>
<Type>UINT</Type>
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<Info>
<DefaultData>3200</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
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</Object>
<Object>
<Index>#x6078</Index>
<Name>Current actual value</Name>
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<Info>
<DefaultData>0000</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
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</Object>
<Object>
<Index>#x6079</Index>
<Name>DC link circuit voltage</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6071</Index>
<Name>Target Torque</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>0000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6077</Index>
<Name>Torque Actual Value</Name>
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<Info>
<DefaultData>0000</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x607A</Index>
<Name>Target Position</Name>
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<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x607C</Index>
<Name>Home Offset</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x607D</Index>
<Name>Software Position Limit</Name>
<Type>DT607D</Type>
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<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>02</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Minimum Software position limit</Name>
<Info>
<DefaultData>00000080</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Maximum Software position limit</Name>
<Info>
<DefaultData>ffffff7f</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x607E</Index>
<Name>Polarity</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x6083</Index>
<Name>Profile Acceleration</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>FFFFFFFF</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6084</Index>
<Name>Profile Deceleration</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>ffffffff</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6098</Index>
<Name>Homing Method</Name>
<Type>SINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x6099</Index>
<Name>Homing Speeds</Name>
<Type>DT6099</Type>
<BitSize>80</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>02</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Speed during search for switch</Name>
<Info>
<DefaultData>55550300</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Speed during search for zero</Name>
<Info>
<DefaultData>88080000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x609A</Index>
<Name>Homing Acceleration</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>ffffffff</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x60B8</Index>
<Name>Touch Probe Fucntion</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>0000</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x60B9</Index>
<Name>Touch Probe Status</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>0000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x60BA</Index>
<Name>Touch Probe Pos1 Pos Value</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x60BB</Index>
<Name>Touch Probe Pos1 Neg Value</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x60E0</Index>
<Name>Positive Torque Limit</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>E803</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x60E1</Index>
<Name>Negative Torque Limit</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>E803</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x60F4</Index>
<Name>Following Error Actual Value</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x60FD</Index>
<Name>Digital Inputs</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x60FE</Index>
<Name>Digital Outputs</Name>
<Type>DT60FE</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>01</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Physical output</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x60FF</Index>
<Name>Target Velocity</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6502</Index>
<Name>Supported Drive Mode</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003A0</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x20A0</Index>
<Name>Alarm history</Name>
<Type>DT20A0</Type>
<BitSize>368</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>12</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Alarm history 1</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Alarm history 2</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Alarm history 3</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Alarm history 4</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Alarm history 5</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Alarm history 6</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Alarm history 7</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Alarm history 8</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Alarm history 9</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Alarm history 10</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Alarm Reset</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x20A2</Index>
<Name>Communication Error Counter</Name>
<Type>DT20A2</Type>
<BitSize>80</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>04</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Invalid Frame Counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Rx Error Counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Lost Link Counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Counter Reset</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x6080</Index>
<Name>Max Motor Speed </Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00004E20</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x608F</Index>
<Name>Position encoder revolution</Name>
<Type>DT608F</Type>
<BitSize>80</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>02</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Encoder increments</Name>
<Info>
<DefaultData>00000200</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Motor revolutions</Name>
<Info>
<DefaultData>01000000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x6090</Index>
<Name>Velocity Encoder revolution</Name>
<Type>DT6090</Type>
<BitSize>80</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>02</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Encoder incremets per second</Name>
<Info>
<DefaultData>00000200</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Motor revolutions per second</Name>
<Info>
<DefaultData>01000000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x6092</Index>
<Name>Feed constant</Name>
<Type>DT6092</Type>
<BitSize>80</BitSize>
<Info>
<SubItem>
<Name>largest sub-index supported</Name>
<Info>
<DefaultData>02</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Feed</Name>
<Info>
<DefaultData>00020000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shaft revolutions</Name>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x6403</Index>
<Name>Motor catalog number</Name>
<Type>STRING(4)</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>30303030</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1008</Index>
<Name>Manufacturer Device Name</Name>
<Type>STRING(12)</Type>
<BitSize>96</BitSize>
<Info>
<DefaultData>454441373030300000000000</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</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>#x2028</Index>
<Name>Redundancy Enable</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
</Objects>
</Dictionary>
</Profile>
<Fmmu Sm="2">Outputs</Fmmu>
<Fmmu Sm="3">Inputs</Fmmu>
<Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
<Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
<Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
<Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
<Su>Drives</Su>
<RxPdo Sm="2">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<Exclude>#x1601</Exclude>
<Exclude>#x1602</Exclude>
<Entry>
<Index>#x6040</Index>
<!-- ControlWord -->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Controlword</Name>
<Comment>object 0x6040:0</Comment>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x607A</Index>
<!-- Target Position -->
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Target Position</Name>
<Comment>object 0x607A:0</Comment>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x60FF</Index>
<!-- Target Velocity -->
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Target Velocity</Name>
<Comment>object 0x60FF:0</Comment>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x6071</Index>
<!-- Target Torque -->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Target Torque</Name>
<Comment>object 0x6071:0</Comment>
<DataType>INT</DataType>
</Entry>
<Entry>
<Index>#x6060</Index>
<!-- Mode of Operation -->
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name>Mode of Operation</Name>
<Comment>object 0x6060:0</Comment>
<DataType>SINT</DataType>
</Entry>
<Entry>
<Index>0</Index>
<!--Padding-->
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
</Entry>
</RxPdo>
<RxPdo Fixed="1">
<Index>#x1601</Index>
<Name>Receive PDO mapping</Name>
<Exclude>#x1600</Exclude>
<Exclude>#x1602</Exclude>
<Entry>
<Index>#x6040</Index>
<!-- ControlWord -->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Controlword</Name>
<Comment>object 0x6040:0</Comment>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x60FF</Index>
<!-- Target Velocity -->
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Target Velocity</Name>
<Comment>object 0x60FF:0</Comment>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x60E0</Index>
<!--Positive Torque Limit Value-->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Positive Torque Limit Value</Name>
<Comment>object 0x60E0:0</Comment>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x60E1</Index>
<!--Negative Torque Limit Value-->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Negative Torque Limit Value</Name>
<Comment>object 0x60E1:0</Comment>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x6060</Index>
<!-- Mode of Operation -->
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name>Mode of Operation</Name>
<Comment>object 0x6060:0</Comment>
<DataType>SINT</DataType>
</Entry>
<Entry>
<Index>0</Index>
<!--Padding-->
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
</Entry>
</RxPdo>
<RxPdo Fixed="1">
<Index>#x1602</Index>
<Name>Receive PDO mapping</Name>
<Exclude>#x1600</Exclude>
<Exclude>#x1601</Exclude>
<Entry>
<Index>#x6040</Index>
<!-- ControlWord -->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Controlword</Name>
<Comment>object 0x6040:0</Comment>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x607A</Index>
<!-- Target Position -->
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Target Position</Name>
<Comment>object 0x607A:0</Comment>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x60FF</Index>
<!-- Target Velocity -->
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Target Velocity</Name>
<Comment>object 0x60FF:0</Comment>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x60B8</Index>
<!--Touch Probe Function-->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Touch Probe Function</Name>
<Comment>object 0x60B8:0</Comment>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x6060</Index>
<!-- Mode of Operation -->
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name>Mode of Operation</Name>
<Comment>object 0x6060:0</Comment>
<DataType>SINT</DataType>
</Entry>
<Entry>
<Index>0</Index>
<!--Padding-->
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
</Entry>
</RxPdo>
<TxPdo Sm="3">
<Index>#x1A00</Index>
<Name>Transmit PDO mapping</Name>
<Exclude>#x1A01</Exclude>
<Exclude>#x1A02</Exclude>
<Entry>
<Index>#x6041</Index>
<!-- Status Word -->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Statusword</Name>
<Comment>object 0x6041:0</Comment>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x6064</Index>
<!-- Actual Position -->
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Position actual value</Name>
<Comment>object 0x6064:0</Comment>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x6077</Index>
<!-- Actual Toruque -->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Torque actual value</Name>
<Comment>object 0x6077:0</Comment>
<DataType>INT</DataType>
</Entry>
<Entry>
<Index>#x6061</Index>
<!-- Mode of Operation Display -->
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name>Modes of operation display</Name>
<Comment>object 0x6061:0</Comment>
<DataType>SINT</DataType>
</Entry>
<Entry>
<Index>0</Index>
<!--Padding-->
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
</Entry>
</TxPdo>
<TxPdo Fixed="1">
<Index>#x1A01</Index>
<Name>Transmit PDO mapping</Name>
<Exclude>#x1A00</Exclude>
<Exclude>#x1A02</Exclude>
<Entry>
<Index>#x6041</Index>
<!-- Status Word -->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Statusword</Name>
<Comment>object 0x6041:0</Comment>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x6064</Index>
<!-- Actual Position -->
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Position actual value</Name>
<Comment>object 0x6064:0</Comment>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x606C</Index>
<!-- Actual Velocity-->
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name> Actual Velocity</Name>
<Comment>object 0x606C:0</Comment>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x6077</Index>
<!-- Actual Toruque -->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Torque actual value</Name>
<Comment>object 0x6077:0</Comment>
<DataType>INT</DataType>
</Entry>
<Entry>
<Index>#x2051</Index>
<!--Actual peak torque limit-->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Actual peak torque limit</Name>
<Comment>object 0x2051:0</Comment>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x6061</Index>
<!-- Mode of Operation Display -->
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name>Modes of operation display</Name>
<Comment>object 0x6061:0</Comment>
<DataType>SINT</DataType>
</Entry>
<Entry>
<Index>0</Index>
<!--Padding-->
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
</Entry>
</TxPdo>
<TxPdo Fixed="1">
<Index>#x1A02</Index>
<Name>Transmit PDO mapping</Name>
<Exclude>#x1A00</Exclude>
<Exclude>#x1A01</Exclude>
<Entry>
<Index>#x6041</Index>
<!-- Status Word -->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Statusword</Name>
<Comment>object 0x6041:0</Comment>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x6064</Index>
<!-- Actual Position -->
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Position actual value</Name>
<Comment>object 0x6064:0</Comment>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x606C</Index>
<!-- Actual Velocity-->
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name> Actual Velocity</Name>
<Comment>object 0x606C:0</Comment>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x60B9</Index>
<!--Touch Probe Status-->
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Touch Probe Status</Name>
<Comment>object 0x60B9:0</Comment>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x60BA</Index>
<!--Touch Probe Pos1 Pos Value-->
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Touch Probe Pos1 Pos Value</Name>
<Comment>object 0x60BA:0</Comment>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x60BB</Index>
<!--Touch Probe Pos1 Neg Value-->
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Touch Probe Pos1 Neg Value</Name>
<Comment>object 0x60BB:0</Comment>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x60FD</Index>
<!--Digital Inputs-->
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Digital Inputs</Name>
<Comment>object 0x60FD:0</Comment>
<DataType>UDINT</DataType>
</Entry>
<Entry>
<Index>#x6061</Index>
<!-- Mode of Operation Display -->
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name>Modes of operation display</Name>
<Comment>object 0x6061:0</Comment>
<DataType>SINT</DataType>
</Entry>
<Entry>
<Index>0</Index>
<!--Padding-->
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoConfig="true" PdoAssign="true" SdoInfo="false"></CoE>
</Mailbox>
<Dc>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron by Sync0</Desc>
<AssignActivate>#x300</AssignActivate>
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
<ShiftTimeSync1>0</ShiftTimeSync1>
</OpMode>
<OpMode>
<Name>Free-run</Name>
<Desc>DC unused</Desc>
<AssignActivate>#x0000</AssignActivate>
</OpMode>
</Dc>
<Eeprom>
<ByteSize>2048</ByteSize>
<ConfigData>080C0244320000000000</ConfigData>
</Eeprom>
<Image16x14>DRIVE</Image16x14>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>