ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_FDA7000_CoE_20111219.xml
<?xml version="1.0" ?>
<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="#x00000001">EDA7001 CoE Drive</Type>
<Name LcId="1033"><![CDATA[EDA7001 CoE Servo Drive (0.1KW)]]></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>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>DT1018</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>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>
</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>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>304</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>Get cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Cycle exceeded counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>SM event missed counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>272</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>288</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>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</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>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>#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>#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>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>#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>#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>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1C33</Index>
<Name>SM input parameter</Name>
<Type>DT1C32</Type>
<BitSize>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>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>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</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>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2019</Index>
<Name>Notch Filter 2 Mode (P02-13)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201A</Index>
<Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001388</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201B</Index>
<Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003B6</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201C</Index>
<Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201D</Index>
<Name>Auto Tuning Mode (P02-17)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201E</Index>
<Name>System Response (P02-18)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201F</Index>
<Name>Inertia Ratio (x0.1) (P02-19)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000014</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2020</Index>
<Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001F40</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2021</Index>
<Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2022</Index>
<Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2023</Index>
<Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2024</Index>
<Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2025</Index>
<Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>00000003</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2026</Index>
<Name>Parameter Initialization (P02-29)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2030</Index>
<Name>Speed Gain Mode (P03-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2031</Index>
<Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2032</Index>
<Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2033</Index>
<Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2034</Index>
<Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2035</Index>
<Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2036</Index>
<Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2037</Index>
<Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2038</Index>
<Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2039</Index>
<Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000064</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203A</Index>
<Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203B</Index>
<Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203C</Index>
<Name>Feedforward Torque Mode (P03-24)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2040</Index>
<Name>Position Gain Mode (P05-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2041</Index>
<Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2042</Index>
<Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2043</Index>
<Name>Position Control P Gain 2 (x0.1Hz) (P05-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2044</Index>
<Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2045</Index>
<Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2046</Index>
<Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2047</Index>
<Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2048</Index>
<Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2049</Index>
<Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204A</Index>
<Name>Position Control Bias Pulse Band (ppr) (P05-21)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204B</Index>
<Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2050</Index>
<Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2070</Index>
<Name>Monitor 1 Select (P09-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2071</Index>
<Name>Monitor 1 Absolute (P09-02)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2072</Index>
<Name>Monitor 1 Scale (x0.1) (P09-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2073</Index>
<Name>Monitor 1 Offset (mV) (P09-04)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2074</Index>
<Name>Monitor 2 Select (P09-05)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2075</Index>
<Name>Monitor 2 Absolute (P09-06)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2076</Index>
<Name>Monitor 2 Scale (x0.1) (P09-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2077</Index>
<Name>Monitor 2 Offset (mV) (P09-08)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</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>Controlword</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>Statusword</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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>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 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 Fixed="1" Sm="2">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1A00</Index>
<Name>Transmit PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
</CoE>
</Mailbox>
<Dc>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron</Desc>
<AssignActivate>#x700</AssignActivate>
<CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="0">50000</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>
<Device Physics="YY">
<Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000002">EDA7002 CoE Drive</Type>
<Name LcId="1033"><![CDATA[EDA7002 CoE Servo Drive (0.2KW)]]></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>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>DT1018</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>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>
</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>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>304</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>Get cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Cycle exceeded counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>SM event missed counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>272</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>288</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>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</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>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>#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>#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>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>#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>#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>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1C33</Index>
<Name>SM input parameter</Name>
<Type>DT1C32</Type>
<BitSize>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>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>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</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>
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<Info>
<DefaultData>0000</DefaultData>
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<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>
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<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>
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<Index>#x2012</Index>
<Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Index>#x2013</Index>
<Name>Brake Speed (x0.1rpm) (P02-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000001F4</DefaultData>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
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<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>
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<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>
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<Index>#x2016</Index>
<Name>Notch Filter 1 Mode (P02-10)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Index>#x2017</Index>
<Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000BB8</DefaultData>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
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<Index>#x2018</Index>
<Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003B6</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Index>#x2019</Index>
<Name>Notch Filter 2 Mode (P02-13)</Name>
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<BitSize>8</BitSize>
<Info>
<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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<BitSize>32</BitSize>
<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>
</Info>
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<Access>rw</Access>
<Category>o</Category>
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<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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<Index>#x201E</Index>
<Name>System Response (P02-18)</Name>
<Type>USINT</Type>
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<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<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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<Index>#x2020</Index>
<Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001F40</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Index>#x2021</Index>
<Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<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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<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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<Index>#x2024</Index>
<Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
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<Access>rw</Access>
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<Index>#x2025</Index>
<Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
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<Info>
<DefaultData>00000003</DefaultData>
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<Index>#x2026</Index>
<Name>Parameter Initialization (P02-29)</Name>
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<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Index>#x2030</Index>
<Name>Speed Gain Mode (P03-01)</Name>
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<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<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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<Index>#x2032</Index>
<Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</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>#x2033</Index>
<Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
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<Index>#x2034</Index>
<Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
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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>
<Category>o</Category>
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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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<Index>#x2038</Index>
<Name>S-Mode Time Constant (x0.1ms) (P03-12)</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>#x2039</Index>
<Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000064</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Index>#x203A</Index>
<Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</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>#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>
<Category>o</Category>
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<Index>#x203C</Index>
<Name>Feedforward Torque Mode (P03-24)</Name>
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<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
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<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>
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<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>
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<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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<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>
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<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>
</Info>
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<Access>rw</Access>
<Category>o</Category>
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<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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<Flags>
<Access>rw</Access>
<Category>o</Category>
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<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>
</Info>
<Flags>
<Access>rw</Access>
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<Index>#x2047</Index>
<Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2048</Index>
<Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
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<BitSize>32</BitSize>
<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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<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>
</Info>
<Flags>
<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>#x2070</Index>
<Name>Monitor 1 Select (P09-01)</Name>
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<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
</Flags>
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<Object>
<Index>#x2071</Index>
<Name>Monitor 1 Absolute (P09-02)</Name>
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<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
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<Object>
<Index>#x2072</Index>
<Name>Monitor 1 Scale (x0.1) (P09-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</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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<Flags>
<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2074</Index>
<Name>Monitor 2 Select (P09-05)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x2075</Index>
<Name>Monitor 2 Absolute (P09-06)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
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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>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2077</Index>
<Name>Monitor 2 Offset (mV) (P09-08)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
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<Object>
<Index>#x603F</Index>
<Name>Error Code</Name>
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<Info>
<DefaultData>0000</DefaultData>
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<Flags>
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<Object>
<Index>#x6040</Index>
<Name>Controlword</Name>
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<Info>
<DefaultData>0000</DefaultData>
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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>
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<Object>
<Index>#x605A</Index>
<Name>Quick Stop Option Code</Name>
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<BitSize>16</BitSize>
<Info>
<DefaultData>0200</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x605C</Index>
<Name>Disable Operation Option Code</Name>
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<BitSize>16</BitSize>
<Info>
<DefaultData>0000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x605E</Index>
<Name>Fault Reaction Option Code</Name>
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<BitSize>16</BitSize>
<Info>
<DefaultData>0300</DefaultData>
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<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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>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 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 Fixed="1" Sm="2">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1A00</Index>
<Name>Transmit PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
</CoE>
</Mailbox>
<Dc>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron</Desc>
<AssignActivate>#x700</AssignActivate>
<CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="0">50000</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>
<Device Physics="YY">
<Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000004">EDA7004 CoE Drive</Type>
<Name LcId="1033"><![CDATA[EDA7004 CoE Servo Drive (0.4KW)]]></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>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>DT1018</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>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>
</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>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>304</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>Get cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Cycle exceeded counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>SM event missed counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>272</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>288</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>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</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>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>#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>#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>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>#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>#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>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1C33</Index>
<Name>SM input parameter</Name>
<Type>DT1C32</Type>
<BitSize>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>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>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</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>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2019</Index>
<Name>Notch Filter 2 Mode (P02-13)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201A</Index>
<Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001388</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201B</Index>
<Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003B6</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201C</Index>
<Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201D</Index>
<Name>Auto Tuning Mode (P02-17)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201E</Index>
<Name>System Response (P02-18)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201F</Index>
<Name>Inertia Ratio (x0.1) (P02-19)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000014</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2020</Index>
<Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001F40</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2021</Index>
<Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2022</Index>
<Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2023</Index>
<Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2024</Index>
<Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2025</Index>
<Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>00000003</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2026</Index>
<Name>Parameter Initialization (P02-29)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2030</Index>
<Name>Speed Gain Mode (P03-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2031</Index>
<Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2032</Index>
<Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2033</Index>
<Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2034</Index>
<Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2035</Index>
<Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2036</Index>
<Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2037</Index>
<Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2038</Index>
<Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2039</Index>
<Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000064</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203A</Index>
<Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203B</Index>
<Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203C</Index>
<Name>Feedforward Torque Mode (P03-24)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2040</Index>
<Name>Position Gain Mode (P05-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2041</Index>
<Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2042</Index>
<Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2043</Index>
<Name>Position Control P Gain 2 (x0.1Hz) (P05-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2044</Index>
<Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2045</Index>
<Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2046</Index>
<Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2047</Index>
<Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2048</Index>
<Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2049</Index>
<Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204A</Index>
<Name>Position Control Bias Pulse Band (ppr) (P05-21)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204B</Index>
<Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2050</Index>
<Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2070</Index>
<Name>Monitor 1 Select (P09-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2071</Index>
<Name>Monitor 1 Absolute (P09-02)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2072</Index>
<Name>Monitor 1 Scale (x0.1) (P09-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2073</Index>
<Name>Monitor 1 Offset (mV) (P09-04)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2074</Index>
<Name>Monitor 2 Select (P09-05)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2075</Index>
<Name>Monitor 2 Absolute (P09-06)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2076</Index>
<Name>Monitor 2 Scale (x0.1) (P09-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2077</Index>
<Name>Monitor 2 Offset (mV) (P09-08)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</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>
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</Object>
<Object>
<Index>#x6040</Index>
<Name>Controlword</Name>
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<BitSize>16</BitSize>
<Info>
<DefaultData>0000</DefaultData>
</Info>
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<Access>rw</Access>
<Category>m</Category>
<PdoMapping>RT</PdoMapping>
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</Object>
<Object>
<Index>#x6041</Index>
<Name>Statusword</Name>
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<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>#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>#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>
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<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>
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<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
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</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>#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>#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>
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<Info>
<DefaultData>3200</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>#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>#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>#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>#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>#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>#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>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 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 Fixed="1" Sm="2">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1A00</Index>
<Name>Transmit PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
</CoE>
</Mailbox>
<Dc>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron</Desc>
<AssignActivate>#x700</AssignActivate>
<CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="0">50000</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>
<Device Physics="YY">
<Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000005">EDA7005 CoE Drive</Type>
<Name LcId="1033"><![CDATA[EDA7005 CoE Servo Drive (0.5KW)]]></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>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>DT1018</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>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>
</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>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>304</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>Get cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Cycle exceeded counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>SM event missed counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>272</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>288</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>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</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>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>#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>#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>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>#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>#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>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1C33</Index>
<Name>SM input parameter</Name>
<Type>DT1C32</Type>
<BitSize>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>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>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</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>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2019</Index>
<Name>Notch Filter 2 Mode (P02-13)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201A</Index>
<Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001388</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201B</Index>
<Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003B6</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201C</Index>
<Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201D</Index>
<Name>Auto Tuning Mode (P02-17)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201E</Index>
<Name>System Response (P02-18)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201F</Index>
<Name>Inertia Ratio (x0.1) (P02-19)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000014</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2020</Index>
<Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001F40</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2021</Index>
<Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2022</Index>
<Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2023</Index>
<Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2024</Index>
<Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2025</Index>
<Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>00000003</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2026</Index>
<Name>Parameter Initialization (P02-29)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2030</Index>
<Name>Speed Gain Mode (P03-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2031</Index>
<Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2032</Index>
<Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2033</Index>
<Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2034</Index>
<Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2035</Index>
<Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2036</Index>
<Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2037</Index>
<Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2038</Index>
<Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2039</Index>
<Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000064</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203A</Index>
<Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203B</Index>
<Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203C</Index>
<Name>Feedforward Torque Mode (P03-24)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2040</Index>
<Name>Position Gain Mode (P05-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2041</Index>
<Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2042</Index>
<Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2043</Index>
<Name>Position Control P Gain 2 (x0.1Hz) (P05-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2044</Index>
<Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2045</Index>
<Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2046</Index>
<Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2047</Index>
<Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2048</Index>
<Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2049</Index>
<Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204A</Index>
<Name>Position Control Bias Pulse Band (ppr) (P05-21)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204B</Index>
<Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2050</Index>
<Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2070</Index>
<Name>Monitor 1 Select (P09-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2071</Index>
<Name>Monitor 1 Absolute (P09-02)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2072</Index>
<Name>Monitor 1 Scale (x0.1) (P09-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2073</Index>
<Name>Monitor 1 Offset (mV) (P09-04)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2074</Index>
<Name>Monitor 2 Select (P09-05)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2075</Index>
<Name>Monitor 2 Absolute (P09-06)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2076</Index>
<Name>Monitor 2 Scale (x0.1) (P09-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2077</Index>
<Name>Monitor 2 Offset (mV) (P09-08)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</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>Controlword</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>Statusword</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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>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 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 Fixed="1" Sm="2">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1A00</Index>
<Name>Transmit PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
</CoE>
</Mailbox>
<Dc>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron</Desc>
<AssignActivate>#x700</AssignActivate>
<CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="0">50000</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>
<Device Physics="YY">
<Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000000A">EDA7010 CoE Drive</Type>
<Name LcId="1033"><![CDATA[EDA7010 CoE Servo Drive (1.0KW)]]></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>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>DT1018</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>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>
</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>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>304</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>Get cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Cycle exceeded counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>SM event missed counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>272</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>288</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>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</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>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>#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>#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>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>#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>#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>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1C33</Index>
<Name>SM input parameter</Name>
<Type>DT1C32</Type>
<BitSize>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>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>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</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>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2019</Index>
<Name>Notch Filter 2 Mode (P02-13)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201A</Index>
<Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001388</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201B</Index>
<Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003B6</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201C</Index>
<Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201D</Index>
<Name>Auto Tuning Mode (P02-17)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201E</Index>
<Name>System Response (P02-18)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201F</Index>
<Name>Inertia Ratio (x0.1) (P02-19)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000014</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2020</Index>
<Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001F40</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2021</Index>
<Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2022</Index>
<Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2023</Index>
<Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2024</Index>
<Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2025</Index>
<Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>00000003</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2026</Index>
<Name>Parameter Initialization (P02-29)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2030</Index>
<Name>Speed Gain Mode (P03-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2031</Index>
<Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2032</Index>
<Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2033</Index>
<Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2034</Index>
<Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2035</Index>
<Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2036</Index>
<Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2037</Index>
<Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2038</Index>
<Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2039</Index>
<Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000064</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203A</Index>
<Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203B</Index>
<Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203C</Index>
<Name>Feedforward Torque Mode (P03-24)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2040</Index>
<Name>Position Gain Mode (P05-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2041</Index>
<Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2042</Index>
<Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2043</Index>
<Name>Position Control P Gain 2 (x0.1Hz) (P05-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2044</Index>
<Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2045</Index>
<Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2046</Index>
<Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2047</Index>
<Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2048</Index>
<Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2049</Index>
<Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204A</Index>
<Name>Position Control Bias Pulse Band (ppr) (P05-21)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204B</Index>
<Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2050</Index>
<Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2070</Index>
<Name>Monitor 1 Select (P09-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2071</Index>
<Name>Monitor 1 Absolute (P09-02)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2072</Index>
<Name>Monitor 1 Scale (x0.1) (P09-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2073</Index>
<Name>Monitor 1 Offset (mV) (P09-04)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2074</Index>
<Name>Monitor 2 Select (P09-05)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2075</Index>
<Name>Monitor 2 Absolute (P09-06)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2076</Index>
<Name>Monitor 2 Scale (x0.1) (P09-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2077</Index>
<Name>Monitor 2 Offset (mV) (P09-08)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</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>Controlword</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>Statusword</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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>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 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 Fixed="1" Sm="2">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1A00</Index>
<Name>Transmit PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
</CoE>
</Mailbox>
<Dc>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron</Desc>
<AssignActivate>#x700</AssignActivate>
<CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="0">50000</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>
<Device Physics="YY">
<Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000000F">EDA7015 CoE Drive</Type>
<Name LcId="1033"><![CDATA[EDA7015 CoE Servo Drive (1.5KW)]]></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>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>DT1018</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>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>
</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>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>304</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>Get cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Cycle exceeded counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>SM event missed counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>272</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>288</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>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</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>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>#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>#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>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>#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>#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>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1C33</Index>
<Name>SM input parameter</Name>
<Type>DT1C32</Type>
<BitSize>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>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>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</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>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2019</Index>
<Name>Notch Filter 2 Mode (P02-13)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201A</Index>
<Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001388</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201B</Index>
<Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003B6</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201C</Index>
<Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201D</Index>
<Name>Auto Tuning Mode (P02-17)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201E</Index>
<Name>System Response (P02-18)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201F</Index>
<Name>Inertia Ratio (x0.1) (P02-19)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000014</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2020</Index>
<Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001F40</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2021</Index>
<Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2022</Index>
<Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2023</Index>
<Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2024</Index>
<Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2025</Index>
<Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>00000003</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2026</Index>
<Name>Parameter Initialization (P02-29)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2030</Index>
<Name>Speed Gain Mode (P03-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2031</Index>
<Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2032</Index>
<Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2033</Index>
<Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2034</Index>
<Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2035</Index>
<Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2036</Index>
<Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2037</Index>
<Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2038</Index>
<Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2039</Index>
<Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000064</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203A</Index>
<Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203B</Index>
<Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203C</Index>
<Name>Feedforward Torque Mode (P03-24)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2040</Index>
<Name>Position Gain Mode (P05-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2041</Index>
<Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2042</Index>
<Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2043</Index>
<Name>Position Control P Gain 2 (x0.1Hz) (P05-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2044</Index>
<Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2045</Index>
<Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2046</Index>
<Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2047</Index>
<Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2048</Index>
<Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2049</Index>
<Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204A</Index>
<Name>Position Control Bias Pulse Band (ppr) (P05-21)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204B</Index>
<Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2050</Index>
<Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2070</Index>
<Name>Monitor 1 Select (P09-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2071</Index>
<Name>Monitor 1 Absolute (P09-02)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2072</Index>
<Name>Monitor 1 Scale (x0.1) (P09-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2073</Index>
<Name>Monitor 1 Offset (mV) (P09-04)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2074</Index>
<Name>Monitor 2 Select (P09-05)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2075</Index>
<Name>Monitor 2 Absolute (P09-06)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2076</Index>
<Name>Monitor 2 Scale (x0.1) (P09-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2077</Index>
<Name>Monitor 2 Offset (mV) (P09-08)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</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>Controlword</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>Statusword</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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>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 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 Fixed="1" Sm="2">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1A00</Index>
<Name>Transmit PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
</CoE>
</Mailbox>
<Dc>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron</Desc>
<AssignActivate>#x700</AssignActivate>
<CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="0">50000</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>
<Device Physics="YY">
<Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000014">EDA7020 CoE Drive</Type>
<Name LcId="1033"><![CDATA[EDA7020 CoE Servo Drive (2.0KW)]]></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>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>DT1018</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>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>
</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>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>304</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>Get cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Cycle exceeded counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>SM event missed counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>272</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>288</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>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</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>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>#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>#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>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>#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>#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>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1C33</Index>
<Name>SM input parameter</Name>
<Type>DT1C32</Type>
<BitSize>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>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>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</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>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2019</Index>
<Name>Notch Filter 2 Mode (P02-13)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201A</Index>
<Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001388</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201B</Index>
<Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003B6</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201C</Index>
<Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201D</Index>
<Name>Auto Tuning Mode (P02-17)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201E</Index>
<Name>System Response (P02-18)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201F</Index>
<Name>Inertia Ratio (x0.1) (P02-19)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000014</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2020</Index>
<Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001F40</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2021</Index>
<Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2022</Index>
<Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2023</Index>
<Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2024</Index>
<Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2025</Index>
<Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>00000003</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2026</Index>
<Name>Parameter Initialization (P02-29)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2030</Index>
<Name>Speed Gain Mode (P03-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2031</Index>
<Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2032</Index>
<Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2033</Index>
<Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2034</Index>
<Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2035</Index>
<Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2036</Index>
<Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2037</Index>
<Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2038</Index>
<Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2039</Index>
<Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000064</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203A</Index>
<Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203B</Index>
<Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203C</Index>
<Name>Feedforward Torque Mode (P03-24)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2040</Index>
<Name>Position Gain Mode (P05-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2041</Index>
<Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2042</Index>
<Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2043</Index>
<Name>Position Control P Gain 2 (x0.1Hz) (P05-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2044</Index>
<Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2045</Index>
<Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2046</Index>
<Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2047</Index>
<Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2048</Index>
<Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2049</Index>
<Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204A</Index>
<Name>Position Control Bias Pulse Band (ppr) (P05-21)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204B</Index>
<Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2050</Index>
<Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2070</Index>
<Name>Monitor 1 Select (P09-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2071</Index>
<Name>Monitor 1 Absolute (P09-02)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2072</Index>
<Name>Monitor 1 Scale (x0.1) (P09-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2073</Index>
<Name>Monitor 1 Offset (mV) (P09-04)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2074</Index>
<Name>Monitor 2 Select (P09-05)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2075</Index>
<Name>Monitor 2 Absolute (P09-06)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2076</Index>
<Name>Monitor 2 Scale (x0.1) (P09-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2077</Index>
<Name>Monitor 2 Offset (mV) (P09-08)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</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>Controlword</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>Statusword</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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>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 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 Fixed="1" Sm="2">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1A00</Index>
<Name>Transmit PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
</CoE>
</Mailbox>
<Dc>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron</Desc>
<AssignActivate>#x700</AssignActivate>
<CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="0">50000</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>
<Device Physics="YY">
<Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000001E">EDA7030 CoE Drive</Type>
<Name LcId="1033"><![CDATA[EDA7030 CoE Servo Drive (3.0KW)]]></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>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>DT1018</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>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>
</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>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>304</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>Get cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Cycle exceeded counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>SM event missed counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>272</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>288</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>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</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>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>#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>#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>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>#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>#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>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
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<SubItem>
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<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
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<SubItem>
<Name>SM event missed counter</Name>
<Info>
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<SubItem>
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<Info>
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<SubItem>
<Name>Sync error</Name>
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<SubItem>
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<Info>
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<SubItem>
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<Info>
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</Info>
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<Info>
<DefaultData>20A10700</DefaultData>
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<SubItem>
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<Info>
<DefaultData>00000000</DefaultData>
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<SubItem>
<Name>Sync modes supported</Name>
<Info>
<DefaultData>0740</DefaultData>
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<SubItem>
<Name>Minimum cycle time</Name>
<Info>
<DefaultData>20A10700</DefaultData>
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<SubItem>
<Name>Calc and copy time</Name>
<Info>
<DefaultData>24F40000</DefaultData>
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<SubItem>
<Name>Get cycle time</Name>
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<DefaultData>0000</DefaultData>
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<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
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<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
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<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
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<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
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<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
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<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>0000</DefaultData>
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<Index>#x2000</Index>
<Name>Drive ID (P01-11)</Name>
<Type>USINT</Type>
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<Info>
<DefaultData>00</DefaultData>
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<Index>#x2001</Index>
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<Info>
<DefaultData>09</DefaultData>
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<Access>rw</Access>
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<Index>#x2002</Index>
<Name>Pulse Out Rate (P01-14)</Name>
<Type>UDINT</Type>
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<Info>
<DefaultData>00020000</DefaultData>
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<Flags>
<Access>rw</Access>
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<DefaultData>0100</DefaultData>
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<Type>UINT</Type>
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<Info>
<DefaultData>0000</DefaultData>
</Info>
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<Access>rw</Access>
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<Index>#x2010</Index>
<Name>Mode Change Time (x0.1ms) (P02-02)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
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<Access>rw</Access>
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<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>
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<Index>#x2012</Index>
<Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
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<Index>#x2013</Index>
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<BitSize>32</BitSize>
<Info>
<DefaultData>000001F4</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
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<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>
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<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>
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<Index>#x2016</Index>
<Name>Notch Filter 1 Mode (P02-10)</Name>
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<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
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<Access>rw</Access>
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<Index>#x2017</Index>
<Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000BB8</DefaultData>
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<Access>rw</Access>
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<Index>#x2018</Index>
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<BitSize>32</BitSize>
<Info>
<DefaultData>000003B6</DefaultData>
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<Access>rw</Access>
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<Index>#x2019</Index>
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<Info>
<DefaultData>00</DefaultData>
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<Index>#x201A</Index>
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<Info>
<DefaultData>00001388</DefaultData>
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<Index>#x201B</Index>
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<BitSize>32</BitSize>
<Info>
<DefaultData>000003B6</DefaultData>
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<Index>#x201C</Index>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
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<Access>rw</Access>
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<Index>#x201D</Index>
<Name>Auto Tuning Mode (P02-17)</Name>
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<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
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<Index>#x201E</Index>
<Name>System Response (P02-18)</Name>
<Type>USINT</Type>
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<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
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<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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<Flags>
<Access>rw</Access>
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<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>
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<Index>#x2021</Index>
<Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</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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<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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<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>
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<Index>#x2024</Index>
<Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
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<Flags>
<Access>rw</Access>
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<Index>#x2025</Index>
<Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
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<Info>
<DefaultData>00000003</DefaultData>
</Info>
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<Access>rw</Access>
<Category>o</Category>
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<Index>#x2026</Index>
<Name>Parameter Initialization (P02-29)</Name>
<Type>USINT</Type>
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<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
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<Index>#x2030</Index>
<Name>Speed Gain Mode (P03-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<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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<Index>#x2032</Index>
<Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
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<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>
<Category>o</Category>
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<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>
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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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<Index>#x2037</Index>
<Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<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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<Index>#x203A</Index>
<Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Index>#x203B</Index>
<Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Index>#x203C</Index>
<Name>Feedforward Torque Mode (P03-24)</Name>
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<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
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<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>
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<Index>#x2041</Index>
<Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<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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<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>
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<Index>#x2044</Index>
<Name>Position PI-P Pulse Error (ppr) (P05-07)</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>#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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<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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<Object>
<Index>#x2047</Index>
<Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
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<Access>rw</Access>
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<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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<Index>#x2049</Index>
<Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x204A</Index>
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<DefaultData>000A</DefaultData>
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<Index>#x204B</Index>
<Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
</Info>
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<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>
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<Index>#x2070</Index>
<Name>Monitor 1 Select (P09-01)</Name>
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<Info>
<DefaultData>00</DefaultData>
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<Index>#x2071</Index>
<Name>Monitor 1 Absolute (P09-02)</Name>
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<Info>
<DefaultData>00</DefaultData>
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<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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<Object>
<Index>#x2073</Index>
<Name>Monitor 1 Offset (mV) (P09-04)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Flags>
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<Object>
<Index>#x2074</Index>
<Name>Monitor 2 Select (P09-05)</Name>
<Type>USINT</Type>
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<Info>
<DefaultData>01</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x2075</Index>
<Name>Monitor 2 Absolute (P09-06)</Name>
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<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
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<Flags>
<Access>rw</Access>
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<Index>#x2076</Index>
<Name>Monitor 2 Scale (x0.1) (P09-07)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<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>
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<Flags>
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</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>Controlword</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>Statusword</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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>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 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 Fixed="1" Sm="2">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1A00</Index>
<Name>Transmit PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
</CoE>
</Mailbox>
<Dc>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron</Desc>
<AssignActivate>#x700</AssignActivate>
<CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="0">50000</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>
<Device Physics="YY">
<Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000002D">EDA7045 CoE Drive</Type>
<Name LcId="1033"><![CDATA[EDA7045 CoE Servo Drive (4.5KW)]]></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>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>DT1018</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>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>
</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>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>304</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>Get cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Cycle exceeded counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>SM event missed counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>272</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>288</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>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</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>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>#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>#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>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>#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>#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>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1C33</Index>
<Name>SM input parameter</Name>
<Type>DT1C32</Type>
<BitSize>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>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>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</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>
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<DefaultData>000003B6</DefaultData>
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<DefaultData>00001388</DefaultData>
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<DefaultData>000003B6</DefaultData>
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<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Index>#x201E</Index>
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<DefaultData>00000014</DefaultData>
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<Index>#x2020</Index>
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<DefaultData>00001F40</DefaultData>
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<Index>#x2021</Index>
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<DefaultData>000003E8</DefaultData>
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<DefaultData>000005DC</DefaultData>
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<DefaultData>000005DC</DefaultData>
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<Index>#x2024</Index>
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<DefaultData>0000000A</DefaultData>
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<Index>#x2025</Index>
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<DefaultData>00000003</DefaultData>
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<Index>#x2026</Index>
<Name>Parameter Initialization (P02-29)</Name>
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<Access>rw</Access>
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<Index>#x2030</Index>
<Name>Speed Gain Mode (P03-01)</Name>
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<DefaultData>01</DefaultData>
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<Index>#x2031</Index>
<Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
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<DefaultData>000003E8</DefaultData>
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<Index>#x2032</Index>
<Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x2033</Index>
<Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
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<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x2034</Index>
<Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x2035</Index>
<Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
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<DefaultData>00000000</DefaultData>
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<Index>#x2036</Index>
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<DefaultData>00000000</DefaultData>
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<Index>#x2037</Index>
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<Index>#x2038</Index>
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<DefaultData>00000000</DefaultData>
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<Index>#x2039</Index>
<Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
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<Info>
<DefaultData>00000064</DefaultData>
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<Index>#x203A</Index>
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<DefaultData>00000000</DefaultData>
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<Index>#x203B</Index>
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<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x203C</Index>
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<Index>#x2040</Index>
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<DefaultData>01</DefaultData>
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<Index>#x2041</Index>
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<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x2042</Index>
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<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x2043</Index>
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<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x2044</Index>
<Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x2045</Index>
<Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x2046</Index>
<Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x2047</Index>
<Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
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<DefaultData>00000001</DefaultData>
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<Index>#x2048</Index>
<Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
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<DefaultData>00000001</DefaultData>
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<Index>#x2049</Index>
<Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x204A</Index>
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<Index>#x204B</Index>
<Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
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<DefaultData>00000000</DefaultData>
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<Index>#x2050</Index>
<Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x2070</Index>
<Name>Monitor 1 Select (P09-01)</Name>
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<Index>#x2071</Index>
<Name>Monitor 1 Absolute (P09-02)</Name>
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<DefaultData>00</DefaultData>
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<Index>#x2072</Index>
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<Info>
<DefaultData>0000000A</DefaultData>
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<Object>
<Index>#x2073</Index>
<Name>Monitor 1 Offset (mV) (P09-04)</Name>
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<DefaultData>00000000</DefaultData>
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<Object>
<Index>#x2074</Index>
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<Info>
<DefaultData>01</DefaultData>
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<Object>
<Index>#x2075</Index>
<Name>Monitor 2 Absolute (P09-06)</Name>
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<Index>#x2076</Index>
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<Info>
<DefaultData>0000000A</DefaultData>
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<Object>
<Index>#x2077</Index>
<Name>Monitor 2 Offset (mV) (P09-08)</Name>
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<Info>
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<Object>
<Index>#x603F</Index>
<Name>Error Code</Name>
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<Index>#x6040</Index>
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<Index>#x6041</Index>
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<Object>
<Index>#x605A</Index>
<Name>Quick Stop Option Code</Name>
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<DefaultData>0200</DefaultData>
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<Object>
<Index>#x605C</Index>
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<Info>
<DefaultData>0000</DefaultData>
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<Object>
<Index>#x605E</Index>
<Name>Fault Reaction Option Code</Name>
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<DefaultData>0300</DefaultData>
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<Object>
<Index>#x6060</Index>
<Name>Modes Of Operation</Name>
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<Info>
<DefaultData>00</DefaultData>
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<Object>
<Index>#x6061</Index>
<Name>Modes Of Operation Display</Name>
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<Object>
<Index>#x6064</Index>
<Name>Position Actual Value</Name>
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<Info>
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<Object>
<Index>#x6065</Index>
<Name>Following Error Window</Name>
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<Info>
<DefaultData>404B4C00</DefaultData>
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<Object>
<Index>#x6067</Index>
<Name>Position Window</Name>
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<Info>
<DefaultData>F4010000</DefaultData>
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<Object>
<Index>#x606C</Index>
<Name>Velocity Actual Value</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Object>
<Index>#x606D</Index>
<Name> Velocity Window</Name>
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<Info>
<DefaultData>3200</DefaultData>
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<Object>
<Index>#x6071</Index>
<Name>Target Torque</Name>
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<Object>
<Index>#x6077</Index>
<Name>Torque Actual Value</Name>
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<Object>
<Index>#x607A</Index>
<Name>Target Position</Name>
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<Object>
<Index>#x607C</Index>
<Name>Home Offset</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Object>
<Index>#x607D</Index>
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<SubItem>
<Name>largest sub-index supported</Name>
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<DefaultData>02</DefaultData>
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</SubItem>
<SubItem>
<Name>Minimum Software position limit</Name>
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<DefaultData>00000080</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Muximum Software position limit</Name>
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<DefaultData>ffffff7f</DefaultData>
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</SubItem>
</Info>
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<Object>
<Index>#x607E</Index>
<Name>Polarity</Name>
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<Info>
<DefaultData>00</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x6083</Index>
<Name>Profile Acceleration</Name>
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<Info>
<DefaultData>FFFFFFFF</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x6084</Index>
<Name>Profile Deceleration</Name>
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<Info>
<DefaultData>ffffffff</DefaultData>
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</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>#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>#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>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 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 Fixed="1" Sm="2">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1A00</Index>
<Name>Transmit PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
</CoE>
</Mailbox>
<Dc>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron</Desc>
<AssignActivate>#x700</AssignActivate>
<CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="0">50000</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>
<Device Physics="YY">
<Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000004B">EDA7075 CoE Drive</Type>
<Name LcId="1033"><![CDATA[EDA7075 CoE Servo Drive (7.5KW)]]></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>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>DT1018</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>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>
</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>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>304</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>Get cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Cycle exceeded counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>SM event missed counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>272</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>288</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>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</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>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>#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>#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>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>#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>#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>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1C33</Index>
<Name>SM input parameter</Name>
<Type>DT1C32</Type>
<BitSize>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>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>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</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>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2019</Index>
<Name>Notch Filter 2 Mode (P02-13)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201A</Index>
<Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001388</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201B</Index>
<Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003B6</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201C</Index>
<Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201D</Index>
<Name>Auto Tuning Mode (P02-17)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201E</Index>
<Name>System Response (P02-18)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201F</Index>
<Name>Inertia Ratio (x0.1) (P02-19)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000014</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2020</Index>
<Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001F40</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2021</Index>
<Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2022</Index>
<Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2023</Index>
<Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2024</Index>
<Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2025</Index>
<Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>00000003</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2026</Index>
<Name>Parameter Initialization (P02-29)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2030</Index>
<Name>Speed Gain Mode (P03-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2031</Index>
<Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2032</Index>
<Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2033</Index>
<Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2034</Index>
<Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2035</Index>
<Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2036</Index>
<Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2037</Index>
<Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2038</Index>
<Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2039</Index>
<Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000064</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203A</Index>
<Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203B</Index>
<Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203C</Index>
<Name>Feedforward Torque Mode (P03-24)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2040</Index>
<Name>Position Gain Mode (P05-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2041</Index>
<Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2042</Index>
<Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2043</Index>
<Name>Position Control P Gain 2 (x0.1Hz) (P05-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2044</Index>
<Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2045</Index>
<Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2046</Index>
<Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2047</Index>
<Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2048</Index>
<Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2049</Index>
<Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204A</Index>
<Name>Position Control Bias Pulse Band (ppr) (P05-21)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204B</Index>
<Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2050</Index>
<Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2070</Index>
<Name>Monitor 1 Select (P09-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2071</Index>
<Name>Monitor 1 Absolute (P09-02)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2072</Index>
<Name>Monitor 1 Scale (x0.1) (P09-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2073</Index>
<Name>Monitor 1 Offset (mV) (P09-04)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2074</Index>
<Name>Monitor 2 Select (P09-05)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2075</Index>
<Name>Monitor 2 Absolute (P09-06)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2076</Index>
<Name>Monitor 2 Scale (x0.1) (P09-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2077</Index>
<Name>Monitor 2 Offset (mV) (P09-08)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</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>Controlword</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>Statusword</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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>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 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 Fixed="1" Sm="2">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1A00</Index>
<Name>Transmit PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
</CoE>
</Mailbox>
<Dc>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron</Desc>
<AssignActivate>#x700</AssignActivate>
<CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="0">50000</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>
<Device Physics="YY">
<Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000006E">EDA7110 CoE Drive</Type>
<Name LcId="1033"><![CDATA[EDA7110 CoE Servo Drive (11.0KW)]]></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>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>DT1018</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>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>
</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>DT1C12</Name>
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<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>304</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>Get cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Cycle exceeded counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>SM event missed counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>272</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>288</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>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</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>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>#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>#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>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>#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>#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>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1C33</Index>
<Name>SM input parameter</Name>
<Type>DT1C32</Type>
<BitSize>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>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>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</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>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2019</Index>
<Name>Notch Filter 2 Mode (P02-13)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201A</Index>
<Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001388</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201B</Index>
<Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003B6</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201C</Index>
<Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201D</Index>
<Name>Auto Tuning Mode (P02-17)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201E</Index>
<Name>System Response (P02-18)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x201F</Index>
<Name>Inertia Ratio (x0.1) (P02-19)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000014</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2020</Index>
<Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00001F40</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2021</Index>
<Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2022</Index>
<Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2023</Index>
<Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000005DC</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2024</Index>
<Name>Contact Gain Time Constant (x0.1ms) (P02-24)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2025</Index>
<Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>00000003</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2026</Index>
<Name>Parameter Initialization (P02-29)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2030</Index>
<Name>Speed Gain Mode (P03-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2031</Index>
<Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>000003E8</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2032</Index>
<Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2033</Index>
<Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2034</Index>
<Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2035</Index>
<Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2036</Index>
<Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2037</Index>
<Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2038</Index>
<Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2039</Index>
<Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000064</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203A</Index>
<Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203B</Index>
<Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x203C</Index>
<Name>Feedforward Torque Mode (P03-24)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2040</Index>
<Name>Position Gain Mode (P05-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2041</Index>
<Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2042</Index>
<Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2043</Index>
<Name>Position Control P Gain 2 (x0.1Hz) (P05-06)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2044</Index>
<Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2045</Index>
<Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2046</Index>
<Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2047</Index>
<Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2048</Index>
<Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000001</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2049</Index>
<Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204A</Index>
<Name>Position Control Bias Pulse Band (ppr) (P05-21)</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Info>
<DefaultData>000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x204B</Index>
<Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2050</Index>
<Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2070</Index>
<Name>Monitor 1 Select (P09-01)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2071</Index>
<Name>Monitor 1 Absolute (P09-02)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2072</Index>
<Name>Monitor 1 Scale (x0.1) (P09-03)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2073</Index>
<Name>Monitor 1 Offset (mV) (P09-04)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2074</Index>
<Name>Monitor 2 Select (P09-05)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>01</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2075</Index>
<Name>Monitor 2 Absolute (P09-06)</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2076</Index>
<Name>Monitor 2 Scale (x0.1) (P09-07)</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>0000000A</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x2077</Index>
<Name>Monitor 2 Offset (mV) (P09-08)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</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>Controlword</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>Statusword</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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>#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>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 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 Fixed="1" Sm="2">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1A00</Index>
<Name>Transmit PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
</CoE>
</Mailbox>
<Dc>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron</Desc>
<AssignActivate>#x700</AssignActivate>
<CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="0">50000</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>
<Device Physics="YY">
<Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000096">EDA7150 CoE Drive</Type>
<Name LcId="1033"><![CDATA[EDA7150 CoE Servo Drive (15.0KW)]]></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>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>DT1018</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>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>
</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>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>304</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>Get cycle time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Cycle exceeded counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>SM event missed counter</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>272</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>288</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>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</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>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>#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>#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>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>#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>#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>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1C33</Index>
<Name>SM input parameter</Name>
<Type>DT1C32</Type>
<BitSize>304</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>Get cycle time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 time</Name>
<Info>
<DefaultData>30750000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle exceeded counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM event missed counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Shift too short counter</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync error</Name>
<Info>
<DefaultData>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>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</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>
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<DefaultData>00000000</DefaultData>
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<DefaultData>0000000A</DefaultData>
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<DefaultData>00000BB8</DefaultData>
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<DefaultData>000003B6</DefaultData>
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<DefaultData>00001F40</DefaultData>
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<DefaultData>000003E8</DefaultData>
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<DefaultData>000005DC</DefaultData>
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<DefaultData>000005DC</DefaultData>
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<DefaultData>0000000A</DefaultData>
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<DefaultData>000003E8</DefaultData>
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<DefaultData>00000000</DefaultData>
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<DefaultData>00000000</DefaultData>
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<Index>#x2034</Index>
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<DefaultData>00000000</DefaultData>
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<Index>#x2038</Index>
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<DefaultData>00000000</DefaultData>
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<Index>#x2039</Index>
<Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>
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<DefaultData>00000000</DefaultData>
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<Index>#x203B</Index>
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<DefaultData>00000000</DefaultData>
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<Index>#x2044</Index>
<Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x2047</Index>
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<DefaultData>00000001</DefaultData>
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<Index>#x2049</Index>
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<DefaultData>00000000</DefaultData>
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<DefaultData>00000000</DefaultData>
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<Index>#x2050</Index>
<Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>
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<DefaultData>00000000</DefaultData>
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<Index>#x2070</Index>
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<Index>#x2071</Index>
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<DefaultData>00</DefaultData>
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<Index>#x2072</Index>
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<DefaultData>0000000A</DefaultData>
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<Index>#x2073</Index>
<Name>Monitor 1 Offset (mV) (P09-04)</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Index>#x2074</Index>
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<DefaultData>01</DefaultData>
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<Index>#x2075</Index>
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<Index>#x2076</Index>
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<DefaultData>0000000A</DefaultData>
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<Index>#x2077</Index>
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<Index>#x603F</Index>
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<Index>#x605A</Index>
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<Index>#x605C</Index>
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<Object>
<Index>#x605E</Index>
<Name>Fault Reaction Option Code</Name>
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<DefaultData>0300</DefaultData>
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<Object>
<Index>#x6060</Index>
<Name>Modes Of Operation</Name>
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<Info>
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<Object>
<Index>#x6061</Index>
<Name>Modes Of Operation Display</Name>
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<Index>#x6064</Index>
<Name>Position Actual Value</Name>
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<DefaultData>00000000</DefaultData>
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<Object>
<Index>#x6065</Index>
<Name>Following Error Window</Name>
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<DefaultData>404B4C00</DefaultData>
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<Object>
<Index>#x6067</Index>
<Name>Position Window</Name>
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<DefaultData>F4010000</DefaultData>
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<Object>
<Index>#x606C</Index>
<Name>Velocity Actual Value</Name>
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<Info>
<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Object>
<Index>#x606D</Index>
<Name> Velocity Window</Name>
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<Info>
<DefaultData>3200</DefaultData>
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<Object>
<Index>#x6071</Index>
<Name>Target Torque</Name>
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<DefaultData>0000</DefaultData>
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<Access>rw</Access>
<Category>o</Category>
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<Index>#x6077</Index>
<Name>Torque Actual Value</Name>
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<DefaultData>0000</DefaultData>
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<Index>#x607A</Index>
<Name>Target Position</Name>
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<DefaultData>00000000</DefaultData>
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</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>#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>#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>#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>#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>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 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 Fixed="1" Sm="2">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1A00</Index>
<Name>Transmit PDO mapping</Name>
<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>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>USINT</DataType>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
</CoE>
</Mailbox>
<Dc>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron</Desc>
<AssignActivate>#x700</AssignActivate>
<CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="0">50000</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>